Vehicle-Follower Control for Dynamic Entrainment of Automated Guideway Transit Vehicles

1979 ◽  
Vol 101 (4) ◽  
pp. 314-320 ◽  
Author(s):  
S. E. Shladover
Keyword(s):  
Control System ◽  
Asymptotic Stability ◽  
Response Speed ◽  
Continuous Functions ◽  
Control Law ◽  
Longitudinal Control ◽  
Linear Controller ◽  
Vehicle Platoons ◽  
Nonlinear Control Law ◽  
Disturbance Estimator

This paper describes a method of vehicle-follower longitudinal control which has been developed to enable automated guideway transit (AGT) vehicles to join (entrain) and leave (extrain) trains or close-formation platoons (at 30 cm spacings) while traveling at cruise speed. Because a linear controller cannot be designed to have the accuracy and response speed needed for operations at very close inter-vehicular spacings without producing excessive control action at large spacings, the suggested controller is a nonlinear vehicle follower in which the gains are continuous functions of the spacing between the vehicles. The nonlinear control law is defined and its simulated behavior in a typical dynamic entrainment is shown. Sample simulated responses of nine-vehicle platoons demonstrate the asymptotic stability which the control system must have to be applicable for long platoons. The use of a disturbance estimator to resist external force loadings and the implementation of the control system using sampled, smoothed data are explained and demonstrated via simulation.

Longitudinal Control of Automated Guideway Transit Vehicles Within Platoons

1978 ◽  
Vol 100 (4) ◽  
pp. 302-310 ◽  
Author(s):  
S. E. Shladover
Keyword(s):  
Control System ◽  
Asymptotic Stability ◽  
Nonlinear Effects ◽  
Longitudinal Control ◽  
Describing Functions

This paper demonstrates, via analysis and simulation, the feasibility of a vehicle-follower control system which maintains intervehicular spacings of 30–60 cm within platoons of automated guideway transit (AGT) vehicles. Asymptotic stability of the platoon is shown to be achievable when each vehicle references its speed to that of the platoon leader. Jerk limiting, which is regarded as essential for all AGT longitudinal controllers, is shown to be potentially destabilizing. The nonlinear effects produced by the jerk limiter are analyzed by use of describing functions, and it is demonstrated how the undesirable effects can be avoided.

Longitudinal Control System Design Using Gradient Method for a Suborbital Launcher

2014 ◽  
Vol 555 ◽  
pp. 113-120
Author(s):  
Teodor Viorel Chelaru ◽  
Valentin Pana ◽  
Adrian Chelaru
Keyword(s):  
Control System ◽  
Gradient Method ◽  
Design Method ◽  
Vertical Plane ◽  
Control System Design ◽  
Control Law ◽  
Space Technology ◽  
Longitudinal Control ◽  
Control Matrix ◽  
And Control

The aim of this paper is to present a design method for the guidance navigation and control system (GNC) of a suborbital launcher. In order to achieve a symmetric evolution in the vertical plane we start with the decoupled form of the equation of motion. Afterwards these equations are linearized and the extended stability and command matrices are constructed by adding some auxiliary equations. The linear control law is obtained and the control matrix containing the unknown coefficients is presented. The design of the control system is based on a modified gradient method. To illustrate the proposed method the synthesis of the control system in the specific case of the SLT ("Suborbital Launcher for Testing - SLT" financed thru „Programme for Research-Development-Innovation on Space Technology and Advanced Research – STAR”) is presented.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

scholarly journals Robust Synchronization of Delayed Chaotic FitzHugh-Nagumo Neurons under External Electrical Stimulation

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Rehan ◽  
Keum-Shik Hong
Keyword(s):  
Electrical Stimulation ◽  
Nonlinear Control ◽  
Control Law ◽  
Input Control ◽  
Control Schemes ◽  
Multiple Input ◽  
Cognitive Diseases ◽  
Single Input ◽  
Error Dynamics ◽  
Nonlinear Control Law

Synchronization of chaotic neurons under external electrical stimulation (EES) is studied in order to understand information processing in the brain and to improve the methodologies employed in the treatment of cognitive diseases. This paper investigates the dynamics of uncertain coupled chaotic delayed FitzHugh-Nagumo (FHN) neurons under EES for incorporated parametric variations. A global nonlinear control law for synchronization of delayed neurons with known parameters is developed. Based on local and global Lipschitz conditions, knowledge of the bounds on the neuronal states, the Lyapunov-Krasovskii functional, and theL2gain reduction, a less conservative local robust nonlinear control law is formulated to address the problem of robust asymptotic synchronization of delayed FHN neurons under parametric uncertainties. The proposed local control law guarantees both robust stability and robust performance and provides theL2bound for uncertainty rejection in the synchronization error dynamics. Separate conditions for single-input and multiple-input control schemes for synchronization of a wide class of FHN systems are provided. The results of the proposed techniques are verified through numerical simulations.

Design and Experimental Implementation of Longitudinal Control for a Platoon of Automated Vehicles

1998 ◽  
Vol 122 (3) ◽  
pp. 470-476 ◽  
Author(s):  
R. Rajamani ◽  
S. B. Choi ◽  
B. K. Law ◽  
J. K. Hedrick ◽  
R. Prohaska ◽  
...  
Keyword(s):  
Control System ◽  
Torque Converter ◽  
Stable Operation ◽  
Automated Vehicles ◽  
Longitudinal Control ◽  
The Public ◽  
Automated Highways ◽  
Experimental Implementation ◽  
Special Challenge ◽  
Upper Level

This paper presents the design and experimental implementation of a longitudinal control system for the operation of automated vehicles in platoons. The control system on each vehicle is designed to have a hierarchical structure and consists of an upper level controller and a lower level controller. The upper controller determines the desired acceleration for each vehicle in the platoon so as to maintain safe string-stable operation even at very small intervehicle spacing. The lower controller utilizes vehicle-specific parameters and determines the throttle and/or brake commands required to track the desired acceleration. A special challenge handled in the design of the lower level controller is low-speed operation that involves gear changes and torque converter dynamics. The paper also presents the design of longitudinal intra-platoon maneuvers that are required in order to allow any car in the platoon to make an exit. The paper presents extensive experimental results from the public NAHSC demonstration of automated highways conducted in August 1997 at San Diego, California. The demonstration included an eight-car platoon operating continuously over several weeks with passenger rides given to over a thousand visitors. The maneuvers demonstrated included starting the automated vehicles from complete rest, accelerating to cruising speed, allowing any vehicle to exit from the platoon, allowing new vehicles to join the platoon and bringing the platoon to a complete stop at the end of the highway. [S0022-0434(00)01903-1]

Implementation and vehicle tests of a vehicle stop-and-go cruise control system

2002 ◽  
Vol 216 (7) ◽  
pp. 537-544 ◽  
Author(s):  
K Yi ◽  
N Ryu ◽  
H J Yoon ◽  
K Huh ◽  
D Cho ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Speed Control ◽  
Step Motor ◽  
Cruise Control ◽  
Longitudinal Control ◽  
Linear Quadratic Optimal Control ◽  
Millimetre Wave ◽  
Stop And Go ◽  
Wave Radar

Implementation and vehicle tests of a vehicle longitudinal control algorithm for stop-and-go cruise control have been performed. The vehicle longitudinal control scheme consists of a set-speed control algorithm, a speed control algorithm, and a distance control algorithm. A desired acceleration for the vehicle for the control of vehicle-to-vehicle relative speed and clearance has been designed using linear quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. Vehicle tests have been conducted using two test vehicles. A 2000 cm3 passenger car equipped with a radar distance sensor, throttle/brake actuators and a controller has been used as a subject vehicle in the vehicle tests. A millimetre wave radar sensor has been used for distance measurement. A step motor and an electronic vacuum booster have been used for throttle/brake actuators. It has been shown that the implemented vehicle longitudinal control system can provide satisfactory performance in vehicle set-speed control and vehicle clearance control at lower speeds.

Performance of the Virgo interferometer longitudinal control system during the second science run

2011 ◽  
Vol 34 (7) ◽  
pp. 521-527 ◽  
Author(s):  
T. Accadia ◽  
F. Acernese ◽  
F. Antonucci ◽  
P. Astone ◽  
G. Ballardin ◽  
...  
Keyword(s):  
Control System ◽  
Longitudinal Control
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