A Novel Incremental Control Method Based on H-infinity Control for Lane Keeping Assist

2021 ◽  
Author(s):  
Ning Yan ◽  
Congzhi Liu ◽  
Qinbao Sun
Keyword(s):  
Control Method ◽  
H Infinity ◽  
H Infinity Control ◽  
Lane Keeping

scholarly journals A Nonlinear H-infinity Control Approach for Autonomous Truck and Trailer Systems

2020 ◽  
Vol 08 (01) ◽  
pp. 49-69 ◽  
Author(s):  
Gerasimos Rigatos ◽  
Pierluigi Siano ◽  
Patrice Wira ◽  
Krishna Busawon ◽  
Richard Binns
Keyword(s):  
Autonomous Vehicles ◽  
Control Method ◽  
Kinematic Model ◽  
Taylor Series Expansion ◽  
Time Instant ◽  
Algebraic Riccati Equation ◽  
Control Loop ◽  
H Infinity ◽  
Control Approach ◽  
H Infinity Control

A nonlinear optimal control method is developed for autonomous truck and trailer systems. Actually, two cases are distinguished: (a) a truck and trailer system that is steered by the front wheels of its truck, (b) an autonomous fire-truck robot that is steered by both the front wheels of its truck and by the rear wheels of its trailer. The kinematic model of the autonomous vehicles undergoes linearization through Taylor series expansion. The linearization is computed at a temporary operating point that is defined at each time instant by the present value of the state vector and the last value of the control inputs vector. The linearization is based on the computation of Jacobian matrices. The modeling error due to approximate linearization is considered to be a perturbation that is compensated by the robustness of the control scheme. For the approximately linearized model of the autonomous vehicles an H-infinity feedback controller is designed. This requires the solution of an algebraic Riccati equation at each iteration of the control algorithm. The stability of the control loop is confirmed through Lyapunov analysis. It is shown that the control loop exhibits the H-infinity tracking performance which implies elevated robustness against modeling errors and external disturbances. Moreover, under moderate conditions the global asymptotic stability of the control loop is proven. Finally, to implement state estimation-based control for the autonomous vehicles, through the processing of a small number of sensor measurements, the H-infinity Kalman Filter is proposed.

Nonlinear H-infinity control for 4-DOF underactuated overhead cranes

2017 ◽  
Vol 40 (7) ◽  
pp. 2364-2377 ◽  
Author(s):  
Gerasimos Rigatos ◽  
Pierluigi Siano ◽  
Masoud Abbaszadeh
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
Control Program ◽  
Algebraic Riccati Equation ◽  
Equivalent Model ◽  
Underactuated System ◽  
H Infinity ◽  
Overhead Cranes ◽  
H Infinity Control ◽  
Approximate Linearization

The article proposes a nonlinear H-infinity control method for four degrees of freedom underactuated overhead cranes. The crane’s system is underactuated because it receives only two external inputs, namely a force that allows the motion of the bridge along the x-axis and a force that allows the motion of the trolley along the y-axis. A solution to the control problem of this underactuated system is obtained by applying nonlinear H-infinity control. The dynamic model of the overhead crane undergoes approximate linearization round local operating points which are redefined at each iteration of the control algorithm. These temporary equilibria consist of the last value of the crane’s state vector and of the last value of the control signal that was exerted on it. For the approximate linearization of the system’s dynamics, a Taylor series expansion is performed through the computation of the associated Jacobian matrices. The modelling errors are compensated by the robustness of the control algorithm. Next, for the linearized equivalent model of the crane an H-infinity feedback controller is designed. This requires the solution of an algebraic Riccati equation at each iteration of the computer control program. It is shown that the control scheme achieves H-infinity tracking performance, which implies maximum robustness to modelling errors and external perturbations. The stability of the control loop is proven through Lyapunov analysis.

scholarly journals Control of the COVID-19 System by Vaccination Using a New Control Engineering Technique

2022 ◽  
Author(s):  
Hazem Ibrahim Ali ◽  
Ali Hassan Mhmood
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Control Law ◽  
Control Effort ◽  
Control Engineering ◽  
H Infinity ◽  
Lombardy Region ◽  
Model Reference Control ◽  
H Infinity Control ◽  
Asymptotic Tracking

Abstract In this work, a novel control engineering method is proposed to achieve a control strategy by vaccination for the COVID-19 epidemic. A proper mathematical model with vaccination control is developed for the COVID-19 system based on the Susceptible-Exposed-Infectious-Recovered (SEIR) epidemiological model after conducting some analyses and assumptions that reflect the COVID-19 features. Then, the proposed control law is designed using the feedback linearization approach and the H-infinity control framework. In addition, a model reference control is incorporated to ensure that satisfactory time responses are obtained. The Black Hole Optimization (BHO) technique is used to attain the optimality of the proposed control method. Following that, the reported statistics and vaccination plan of the Lombardy region of Italy are utilized to assess the effectiveness of the proposed control law. Ultimately, the simulation results illustrate that the proposed control law can effectively control the COVID-19 system and correctly perform the vaccination plan by tackling the system’s nonlinearity and uncertainty and realizing elegant asymptotic tracking characteristics with reasonable control effort.

A nonlinear H-infinity control method for multi-DOF robotic manipulators

2016 ◽  
Vol 88 (1) ◽  
pp. 329-348 ◽  
Author(s):  
G. Rigatos ◽  
P. Siano ◽  
G. Raffo
Keyword(s):  
Control Method ◽  
Robotic Manipulators ◽  
H Infinity ◽  
H Infinity Control

scholarly journals H∞ Control Design for a Rigid-Flexible Spacecraft under a Fuel Slosh Influence

2020 ◽  
Vol 19 ◽  
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Rigid Motion ◽  
Attitude Control System ◽  
Control Effort ◽  
H Infinity ◽  
Longitudinal Dynamic ◽  
H Infinity Control ◽  
Pointing Accuracy ◽  
Fuel Slosh

The spacecraft Attitude Control System (ACS) performance and robustness depend on the interactioneffects between the fuel slosh motion, the panel's flexible motion, and the spacecraft rigid motion, mainly duringtranslational and/or rotational maneuvers. In regards to satellite pointing accuracy flexibility and fuel, slosh is thetwo most important effects that should be considered in the satellite ACS design since their interactions can damage the ACS performance and robustness. Once, the lowest vibration frequencies, normally of the sloshing modeare about six times less than of the ACS bandwidth. Therefore, there is a strong possibility that this mode can destabilize the ACS pointing accuracy. This phenomenon is called spillover because the control effort spills over outside the control bandwidth. As a result, the designer needs to explore the limits between the conflicting requirements of performance, that is, increase of the bandwidth without introduction noise in the ACS keeping the systemrobustness to parameters variation. In this paper, one applies the H infinity control method which can deal withthese two design requirements (performance and robustness) considering the controller error pointing that may belimited by the minimum time necessary to suppress disturbances that affect the satellite attitude acquisition. Theequations of motions are obtained considering the Lagrange method for small flexible deformations and a mechanical model of liquid sloshing which allows modeling and investigating the longitudinal dynamic characteristics of apartially filled liquid tank during a pitch maneuver, satisfying performance and robustness requirements.

scholarly journals Nonlinear H-infinity control for switched reluctance machines

2019 ◽  
Vol 9 (1) ◽  
pp. 14-27 ◽  
Author(s):  
Gerasimos Rigatos ◽  
Pierluigi Siano ◽  
Sul Ademi
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
Algebraic Riccati Equation ◽  
Time Step ◽  
H Infinity ◽  
Switched Reluctance ◽  
Reluctance Machine ◽  
Switched Reluctance Machines ◽  
H Infinity Control ◽  
Approximate Linearization

AbstractThe article proposes a nonlinear H-infinity control method for switched reluctance machines. The dynamic model of the switched reluctance machine undergoes approximate linearization round local operating points which are redefined at each iteration of the control algorithm. These temporary equilibria consist of the last value of the reluctance machine’s state vector and of the last value of the control signal that was exerted on it. For the approximate linearization of the reluctance machine’s dynamics, Taylor series expansion is performed through the computation of the associated Jacobian matrices. The modelling errors are compensated by the robustness of the control algorithm. Next, for the linearized equivalent model of the reluctance machine an H-infinity feedback controller is designed. This requires the solution of an algebraic Riccati equation at each time-step of the control method. It is shown that the control scheme achieves H-infinity tracking performance, which implies maximum robustness to modelling errors and external perturbations. The stability of the control loop is proven through Lyapunov analysis.

scholarly journals Nonlinear optimal control for ship propulsion with the use of an induction motor and a drivetrain

2018 ◽  
Vol 188 ◽  
pp. 05007 ◽  
Author(s):  
Gerasimos Rigatos ◽  
Krishna Busawon ◽  
Dimitrios Serpanos ◽  
Vasilios Siadimas ◽  
Pierluigi Siano ◽  
...  
Keyword(s):  
Induction Motor ◽  
Control Method ◽  
Taylor Series Expansion ◽  
Propulsion System ◽  
Algebraic Riccati Equation ◽  
Time Step ◽  
H Infinity ◽  
H Infinity Control ◽  
Approximate Linearization ◽  
Linearized Model

A nonlinear optimal (H-infinity) control method is proposed for an electric ship's propulsion system that consists of an induction motor, a drivetrain and a propeller. The control method relies on approximate linearization of the propulsion system's dynamic model using Taylor-series expansion and on the computation of the state-space description's Jacobian matrices. The linearization takes place around a temporary equilibrium which is recomputed at each time-step of the control method. For the approximately linearized model of the ship's propulsion system, an H-infinity (optimal) feedback controller is developed. For the computation of the controller's gains an algebraic Riccati equation is solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis,

scholarly journals H∞ Control Design for a Flexible Spacecraft with Fuel Slosh Dynamics

2020 ◽  
Vol 19 ◽  
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Rigid Motion ◽  
Attitude Control System ◽  
Control Effort ◽  
H Infinity ◽  
Longitudinal Dynamic ◽  
H Infinity Control ◽  
Pointing Accuracy ◽  
Fuel Slosh

The spacecraft Attitude Control System (ACS) performance and robustness depend on the interaction effects between the fuel slosh motion, the panel's flexible motion and the spacecraft rigid motion, mainly during translational and/or rotational maneuvers. In regards to satellite pointing accuracy flexibility and fuel slosh are the two most important effects that should be considered in the satellite ACS design since their interactions can damage the ACS performance and robustness. Once, the lowest vibration frequencies, normally of the slosh mode are about six times less than of the ACS bandwidth. Therefore, there is a strong possibility that this mode can destabilize the ACS pointing. This phenomenon is called spillover, because the control effort spills over outside the control bandwidth. As a result, the designer needs to explore the limits between the conflicting requirements of performance, that is, increase of the bandwidth without introduction noise in the ACS keeping the system robustness to parameters variation. In this paper one applies the H infinity control method which is able to deal with these two design requirements (performance and robustness) considering the controller error pointing that may be limited by the minimum time necessary to suppress disturbances that affects the satellite attitude acquisition. The equations of motions are obtained considering Lagrange method for small flexible deformations and a mechanical model of liquid sloshing which allows modeling and investigating the longitudinal dynamic characteristics of partially filled liquid tank during a pitch maneuver. The results of the simulations have shown that the H-infinity controller was able to control the rigid motion and suppress the vibrations

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