scholarly journals Anti-Lock Braking Control Design Using a Nonlinear Model Predictive Approach and Wheel Information

2019 ◽  
Author(s):  
Francesco Pretagostini ◽  
Barys Shyrokau ◽  
Giovanni Berardo
Keyword(s):  
Nonlinear Model ◽  
Control Design ◽  
Predictive Approach ◽  
Braking Control

scholarly journals Observer Based Traction/Braking Control Design for High Speed Trains Considering Adhesion Nonlinearity

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Wenchuan Cai ◽  
Wenhao Liao ◽  
Danyong Li ◽  
Yongduan Song
Keyword(s):  
High Speed ◽  
Adhesion Force ◽  
Surface Condition ◽  
Control Design ◽  
Work Force ◽  
High Speed Trains ◽  
Train Operation ◽  
Braking Control ◽  
Key Enabling Technologies ◽  
Automatic Train Operation

Train traction/braking control, one of the key enabling technologies for automatic train operation, literally takes its action through adhesion force. However, adhesion coefficient of high speed train (HST) is uncertain in general because it varies with wheel-rail surface condition and running speed; thus, it is extremely difficult to be measured, which makes traction/braking control design and implementation of HSTs greatly challenging. In this work, force observers are applied to estimate the adhesion force or/and the resistance, based on which simple traction/braking control schemes are established under the consideration of actual wheel-rail adhesion condition. It is shown that the proposed controllers have simple structure and can be easily implemented from real applications. Numerical simulation also validates the effectiveness of the proposed control scheme.

Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers

2019 ◽  
Author(s):  
Joohwan Seo ◽  
Jongeun Choi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Time Scale ◽  
Control Design ◽  
High Gain ◽  
Nonlinear Model Predictive Control ◽  
Control Synthesis ◽  
Dynamic Inversion ◽  
Discretization Scheme

Abstract Control design for a helicopter is a challenging problem because of its non-affine inputs, complicated dynamics and it is an under-actuated system. To solve a control problem of the helicopter under model uncertainties and disturbance present environments, an Explicit Nonlinear Model Predictive Control (ENMPC), a dynamic inversion and an Extended High-Gain Observers (EHGO) are combined in a multi-time-scale fashion. The multi-time scaled structrue and the ENMPC provides the framework of the control design, the dynamic inversion deals with non-affine control inputs, and the EHGO estimates the unmeasured states and uncertainties. In addition, a discretization scheme using the saturation and adding low pass filters to the control inputs is presented. Finally, the numerical simulation of a fixed sampling period has been carried out to demonstrate the validity of the proposed multi-time-scale control design and the discretization scheme.

Design of an actuator fault-tolerant controller for an air vehicle with nonlinear dynamics

2018 ◽  
Vol 233 (10) ◽  
pp. 3534-3546 ◽  
Author(s):  
Sajad Roshanravan ◽  
Behnam Sobhani Gendeshmin ◽  
Saeed Shamaghdari
Keyword(s):  
Nonlinear Model ◽  
Optimization Problem ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Control Design ◽  
Actuator Fault ◽  
Nonlinear Dynamic Model ◽  
New Approach ◽  
Air Vehicle ◽  
Novel Method

In this paper, a novel method is presented to design an autopilot for an air vehicle with a polynomial nonlinear model. This method employs the nonlinear model directly in the control design process without the need for local linearization about an operating point. It is shown that the control design problem can be formulated as a sum-of-squares optimization problem. This method guarantees exponential stability of the closed-loop nonlinear system by introducing a polynomial Lyapunov function. The nonlinear dynamic model of air vehicles can usually be represented in the polynomial form. Therefore, the proposed method can widely be applied to design an air vehicle autopilot. Besides using the proposed method along with the projection based and online redesign methods, a fault-tolerant controller is designed for the air vehicle. Furthermore, a new approach is developed by combination of these methods to fault-tolerant control system design. The proposed method is applied to design a fault-tolerant controller for a nonlinear pitch-axis model of an air vehicle subject to loss of effectiveness actuator fault. The simulation results show the efficiency of the proposed method.

scholarly journals Research on Cooperative Braking Control Algorithm Based on Nonlinear Model Prediction

2021 ◽  
Vol 12 (4) ◽  
pp. 173
Author(s):  
Liang Chu ◽  
Cheng Chang ◽  
Di Zhao ◽  
Yanwu Xu
Keyword(s):  
Nonlinear Model ◽  
Energy Recovery ◽  
Control Algorithm ◽  
Slip Rate ◽  
Test Cycle ◽  
Braking System ◽  
System A ◽  
Braking Control ◽  
Vehicle Test ◽  
Braking Energy Recovery

To address the coordinated distribution of motor braking and friction braking for the regenerative braking system, a cooperative braking algorithm based on nonlinear model predictive control (NMPC) is proposed, with braking energy recovery power, tire slip rate, and motor torque variation as the optimization objectives, and online optimization of the coordinated distribution of motor braking and friction braking. Using the offline model built in Matlab/Simulink, the cooperative braking algorithm is tested for energy efficiency and braking safety. The results show that when based on World Light Vehicle Test Cycle (WLTC), the energy recovery rate can reach 30.4%, and with a single high braking intensity, the braking safety can still be ensured.

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