A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability

2010 ◽  
Vol 133 (1) ◽  
Author(s):  
Guo-Dong Yin ◽  
Nan Chen ◽  
Jin-Xiang Wang ◽  
Ling-Yao Wu
Keyword(s):  
Control System ◽  
Experimental Tests ◽  
Steering System ◽  
Hardware In The Loop ◽  
Steering Control ◽  
Robust Controller ◽  
Control Scheme ◽  
Parameter Variations ◽  
Good Vehicle ◽  
Selection Of

This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, the robust controller is designed and the selection of weighting functions is discussed in the framework of μ-synthesis control scheme, considering the varying parameters induced by running vehicle condition. Second, in order to investigate the feasibility of the four-wheel steering control system, the 4WS vehicle control system is built using dSPACE DS1005 platform. The experimental tests are performed using the Hil setup which has been constructed using the devised rear steering actuating system. The dynamics performance is evaluated by experiment using the Hil setup under the condition of parameter variations. Finally, experimental results show that the μ-synthesis controller can enhance good vehicle lateral maneuverability.

Independent wheel control system design for highly automated driving

2021 ◽  
pp. 095440702110065
Author(s):  
Shihuan Li ◽  
Lei Wang
Keyword(s):  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Control System Design ◽  
Steering Control ◽  
Automated Driving ◽  
Accuracy And Precision ◽  
Actual Observation ◽  
Control Scheme ◽  
Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

scholarly journals Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Chengqiang Yin ◽  
Qun Sun ◽  
Jian Wu ◽  
Chengqiang Liu ◽  
Jie Gao
Keyword(s):  
Control System ◽  
Design Method ◽  
Fast Response ◽  
Steering System ◽  
Matlab Simulation ◽  
Steering Control ◽  
Automatic Navigation ◽  
Servo Controller ◽  
Improved Design ◽  
Agricultural Tractors

The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.

Gravity Powered Locomotion and Active Control of Three Mass System

2010 ◽  
Author(s):  
Ali Tavakoli ◽  
Yildirim Hurmuzlu
Keyword(s):  
Active Control ◽  
Research Effort ◽  
Robust Controller ◽  
Mass System ◽  
Gait Patterns ◽  
Hybrid Dynamics ◽  
Control Scheme ◽  
Parameter Variations ◽  
A Chain ◽  
Nonlinear Robust

This paper presents the latest results of our research effort to develop a family of energetically efficient robotic locomotors and introduce new gait patterns for them. We study a chain of mechanisms that span from the very simple to the progressively more complicated. These mechanisms can be as simple as a bouncing ball or as complex as a five link biped. This paper presents the results of our study for a three mass dynamical system. We show that this system can generate a rich set of passive gaits such as hopping, tapping, walking. We developed a nonlinear robust controller for the hybrid dynamics of three mass system that is insensitive to parameter variations of the system. The active control scheme generates the passive gaits on arbitrary ground slope angles.

Systems Modelling and Control Applied to a Low-Pressure Gas Distribution Network

1992 ◽  
Vol 206 (1) ◽  
pp. 35-44 ◽  
Author(s):  
J S Parkinson ◽  
R J Wynne
Keyword(s):  
Control System ◽  
Distribution Networks ◽  
Low Pressure ◽  
Effective Control ◽  
Gas Distribution ◽  
Control Scheme ◽  
Systems Modelling ◽  
And Control ◽  
Low Pressures ◽  
Selection Of

A control system has been designed and implemented to provide more effective energy management of low-pressure gas distribution networks. The key to this is the provision of a control scheme that maintains low pressures across a network. The work was approached from first principles and a modelling technique has been developed which provides reduced order models that adequately describe the characteristics of multi-feed gas networks. The models were then used for the control system design, which in this case also included the selection of the optimal measurement points for most effective control. Following extensive design studies a relatively straightforward control scheme resulted which has been implemented and proved to be effective.

A Steering Control System to Minimize Propulsion Losses of High-Speed Containerships—Part I: System Dynamics

1982 ◽  
Vol 104 (1) ◽  
pp. 1-8 ◽  
Author(s):  
R. E. Reid ◽  
J. W. Moore
Keyword(s):  
Control System ◽  
Modeling And Simulation ◽  
Time Domain ◽  
High Speed ◽  
Steering System ◽  
Performance Criteria ◽  
Domain Modeling ◽  
Added Resistance ◽  
Steering Control ◽  
Time Domain Modeling

The problem of steering control of high-speed containerships to minimize propulsion losses is addressed. The approach involves time domain modeling and simulation. A dynamic model of a containership and steering system in a seaway is constructed. Performance criteria for added resistance associated with yawing and steering are discussed. Losses resulting from yawing of the uncontrolled ship in heavy weather are shown by simulation to be significant. The results presented form a basis for design of a controller to minimize steering related losses.

scholarly journals A RobustH∞Controller for an UAV Flight Control System

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
J. López ◽  
R. Dormido ◽  
S. Dormido ◽  
J. P. Gómez
Keyword(s):  
Control System ◽  
Flight Control ◽  
Noisy Environment ◽  
Flight Control System ◽  
Robust Controller ◽  
Outer Loop ◽  
Control Scheme ◽  
True Airspeed ◽  
Heading Angle ◽  
Control Methodology

The objective of this paper is the implementation and validation of a robustH∞controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design theH∞robust controller in the inner loop,H∞control methodology is used. The two controllers that conform the outer loop are designed using theH∞Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

Collision-avoidance steering control for autonomous vehicles using neural network-based adaptive integral terminal sliding mode

2020 ◽  
Vol 39 (3) ◽  
pp. 4689-4702
Author(s):  
Zhe Sun ◽  
Jiayang Zou ◽  
Defeng He ◽  
Zhihong Man ◽  
Jinchuan Zheng
Keyword(s):  
Neural Network ◽  
Control System ◽  
Collision Avoidance ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Kinematic Model ◽  
Avoidance Performance ◽  
Steering Control ◽  
Terminal Sliding Mode ◽  
Control Scheme

Due to the complex driving conditions confronted by an autonomous vehicle, it is significant for the vehicle to possess a robust control system to achieve effective collision-avoidance performance. This paper proposes a neural network-based adaptive integral terminal sliding mode (NNAITSM) control scheme for the collision-avoidance steering control of an autonomous vehicle. In order to describe the vehicle’s lateral dynamics and path tracking characteristics, a two-degrees-of-freedom (2DOF) dynamic model and a kinematic model are adopted. Then, an NNAITSM controller is designed, where a radial basis function neural network (RBFNN) scheme is utilized to online approximate the optimal upper bound of lumped system uncertainties such that prior knowledge about the uncertainties is not required. The stability of the control system is proved via Lyapunov, and the selection guideline of control parameters is provided. Last, Matlab-Carsim co-simulations are executed to test the performance of the designed controller under different road conditions and vehicle velocities. Simulation results show that compared with conventional sliding mode (CSM) and nonsingular terminal sliding mode (NTSM) control, the proposed NNAITSM control scheme owns evident superiority in not only higher tracking precision but also stronger robustness against various road surfaces and vehicle velocities.

An Adaptive Control System Incorporating H∞ Concepts for High-Speed Machinery with Independent Drives

1994 ◽  
Vol 208 (1) ◽  
pp. 43-52
Author(s):  
R W Beaven ◽  
L D Wilkes ◽  
M T Wright ◽  
S D Garvey ◽  
M I Friswell
Keyword(s):  
Control System ◽  
High Speed ◽  
Dynamic Models ◽  
Simulated Performance ◽  
Current State ◽  
Control Scheme ◽  
Parameter Variations ◽  
Degree Of Confidence ◽  
Adaptive Decentralized Control ◽  
High Degree

Current state of the art in the design of high-speed machinery for the production or processing of discrete products often involves the use of independent drives synchronized through controllers, rather than via stiff mechanical connections. High-speed machinery for discontinuous processes tends to be characterized by the following attributes: (a) synchronization is highly critical between the axes in certain groups; (b) strong coupling between axes (groups) can be introduced by the work material; (c) the speeds of operation are such that computation is at a premium and just be restricted; (d) individual axes have periodically varying parameters (with additional non-periodic noise); (e) individual axes can become strongly non-linear at high torque (or force) rates; (f) slow and steady trends in the plant parameters are common; and (g) the development of reliable, high-fidelity dynamic models of all machine components for perfect design simulation is impracticable. This paper addresses the issue of how controllers may be specified and designed to provide control solutions for high-speed machinery, which provide the designer with a high degree of confidence that simulated performance may be realized in practice. The form of the solution proposed is an adaptive decentralized control scheme with a recursive identifier to track machine parameter variations. H∞ design methods are used both to specify the form of the control system and to ensure ongoing robust control of the machinery with minimum sacrifice of performance. Three examples are given(two simulation and one experimental) to demonstrate the benefits of using H∞ methods, rather than traditional methods, for this type of machinery, and one of these illustrates the effectiveness of adaption for maximizing performance while maintaining stability.

A Novel Fuzzy Logic PID Algorithm for Submarine Hydraulic Rudder Control

2012 ◽  
Vol 236-237 ◽  
pp. 1222-1226
Author(s):  
Rong Sun ◽  
Sheng Liu ◽  
Lan Yong Zhang
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Simulation Analysis ◽  
Steering System ◽  
Steering Control ◽  
Displacement Control ◽  
Parameter Uncertainties ◽  
Performance Impact ◽  
Advantages And Disadvantages ◽  
Load Disturbance

According to the composition of the submarine hydraulic rudder system, the paper analyzed the different advantages and disadvantages of the rudder type, steering agencies and the hydraulic rudder control system as well as the scope of application. System steering bodies of pump control servo, variable pump displacement control system, steering control system and rudder hydrodynamic interference model were modeled. Fuzzy logic hydraulic servo parameter adjustment method is presented, and simulation analysis of the variable pump displacement control system and steering system. As the system parameter uncertainties and load disturbance, the performance impact of parameter variation and load disturbance simulation analysis.

scholarly journals Design and error compensation of active mechanically automated guided vehicle

2021 ◽  
Vol 22 ◽  
pp. 14
Author(s):  
Jianqiang Yan ◽  
Mi Li ◽  
Zhongxiang Chen ◽  
Yihang Li
Keyword(s):  
Error Compensation ◽  
Steering System ◽  
Automated Guided Vehicle ◽  
Steering Control ◽  
Control Cost ◽  
Directional Control ◽  
Quintic Polynomial ◽  
Control Scheme ◽  
Vehicle Trajectory ◽  
Compensation Approach

To reduce the navigation control cost, this paper proposes a mechanical guidance control scheme that uses a cam-link mechanism as a steering control mechanism for an automated guided vehicle with a fixed driving path. According to the steering principle, a mathematical model of the steering system and the driving trajectory are established. By setting the boundary conditions, the vehicle trajectory is modeled using a quintic polynomial. The contour of the directional control cam is obtained based on the equation of the vehicle trajectory. Because errors occur in actual machining and assembly processes, errors will be classified based on their impact on the trajectory. The effects of various errors on the trajectory are quantitatively determined by using simulation methods with different parameters. Furthermore, an error compensation approach is designed to reduce the influence of the error on the trajectory directly or indirectly. Finally, experiment results illustrate that the adjustment accuracy of the proposed automated guided vehicle trajectory is 2 mm.

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