scholarly journals Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Lie Guo ◽  
Ping-Shu Ge ◽  
Ming Yue ◽  
Yi-Bing Zhao
Keyword(s):  
Controller Design ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Intelligent Vehicle ◽  
Curvature Radius ◽  
Position Tracking ◽  
Lane Changing ◽  
Loop Control ◽  
Tracking Controller ◽  
Curved Road

To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.

A novel nonsingular integral terminal sliding mode control scheme in epilepsy treatment

2021 ◽  
pp. 014233122110507
Author(s):  
Moshu Qian ◽  
Zhen Zhang ◽  
Guanghua Zhong ◽  
Cuimei Bo
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Control Approach ◽  
Control Scheme ◽  
Loop Control System

In this paper, a closed-loop brain stimulation control problem is investigated using the nonsingular integral terminal sliding mode (NITSM) control approach. First, the thalamocortical model of epilepsy seizure is given, which is composed of the cortical PY-IN subnetwork and the subcortical RE-TC subsystem. Then, a nonsingular integral terminal sliding mode surface is designed utilizing the derived output tracking error, and the stability of the sliding mode dynamics is proved by Lyapunov approach. Furthermore, a disturbance observer (DOB) based NITSM controller design approach is proposed for the established thalamocortical model, and the reachability of the closed-loop control system under the designed controller is analyzed using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness and superiority of the designed control scheme.

Nonlinear adaptive position tracking of an electro-hydraulic actuator

2015 ◽  
Vol 229 (17) ◽  
pp. 3252-3265 ◽  
Author(s):  
Kai Guo ◽  
Jianhua Wei ◽  
Qiyan Tian
Keyword(s):  
Disturbance Observer ◽  
Lyapunov Theory ◽  
Observer Design ◽  
Estimation Accuracy ◽  
Load Force ◽  
Position Tracking ◽  
Hydraulic Actuator ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Tracking Controller

This paper deals with position tracking control of a single-rod electro-hydraulic actuator subject to external disturbances and parameter uncertainties. In previous disturbance observer design methodologies for electro-hydraulic actuators, parameter uncertainties have been commonly regarded as disturbances and lumped together with external perturbations. However, in practical electro-hydraulic systems, system parameters are unknown and varying. If considerable parameter uncertainties exist in the system or if the disturbance dynamics induced by parameter uncertainties exceed the bandwidth of the disturbance observer, estimation accuracy will degrade, which will significantly affect system performance. To solve this problem, an extended disturbance observer is proposed in this paper to estimate disturbances while dealing with parameter uncertainties. In addition, a nonlinear position tracking controller is designed for position tracking based on the proposed disturbance observer using a backstepping technique. The proof of the stability of the overall closed-loop system is based on Lyapunov theory. The performance of the proposed controller is verified through simulations and experiments using a shock absorber as a load force generator. A detailed nonlinear physical model of the load force is developed and implemented in the simulation. The results show that the proposed nonlinear position tracking controller, together with the extended disturbance observer, provide excellent tracking performance in the presence of parameter uncertainties and external disturbances.

scholarly journals Adaptive Output Feedback Tracking Controller Design of Stochastic Nonlinear Systems with Parameter Uncertainty for Polynomial Function Growth Conditions

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Long-Chuan Guo
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Controller Design ◽  
Polynomial Function ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Growth Conditions ◽  
Stochastic Nonlinear Systems ◽  
Tracking Controller ◽  
Feedback Tracking

This paper mainly focuses on output feedback practical tracking controller design for stochastic nonlinear systems with polynomial function growth conditions. Mostly, there are some studies on output feedback tracking control problem for general nonlinear systems with parametric certainty in existing achievements. Moreover, we extend it to stochastic nonlinear systems with parametric uncertainty and system nonlinear terms are assumed to satisfy polynomial function growth conditions which are more relaxed than linear growth conditions or power growth conditions. Due to the presence of unknown parametric uncertainty, an output feedback practical tracking controller with dynamically updated gains is constructed explicitly so that all the states of the closed-loop systems are globally bounded and the tracking error belongs to arbitrarily small interval after some positive finite time. An example illustrates the efficiency of the theoretical results.

Optimal Feed-Forward Digital Tracking Controller Design

1994 ◽  
Vol 116 (4) ◽  
pp. 583-592 ◽  
Author(s):  
Tsu-Chin Tsao
Keyword(s):  
Controller Design ◽  
Reference Model ◽  
Phase Error ◽  
Tracking Error ◽  
Reference Signal ◽  
Tracking Performance ◽  
Design Parameters ◽  
Matching Problem ◽  
Feed Forward ◽  
Tracking Controller

This paper presents an approach for optimal digital feed-forward tracking controller design. The tracking problem is formulated as a model matching problem, in which the distance between a specified tracking reference model and the achievable tracking performance by feedforward compensation is minimized. Desired input/output characteristics, finite length preview action, tracking of specific classes of constrained signals, time domain reference signal velocity or acceleration bound, and frequency domain weighting are conveniently incorporated in the proposed controller design and their roles in tracking performance are discussed. The tracking error bound is also explicitly expressed in terms of the controller design parameters. An l1 norm optimal tracking controller is proposed as a solution to the mechanical tolerance control problem. A motion control example illustrates the design approach and several aspects of the resulting optimal feedforward controller, including the optimality of the zero phase error tracking controller.

scholarly journals Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems

2016 ◽  
Vol 21 (2) ◽  
pp. 166-184 ◽  
Author(s):  
Zhongcai Zhang ◽  
Yuqiang Wu
Keyword(s):  
Dynamic Model ◽  
Controller Design ◽  
Internal State ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Design Parameters ◽  
Unknown Parameters ◽  
Constrained Mechanical Systems ◽  
Adaptive Tracking ◽  
Tracking Controller

This paper is devoted to the problem of modeling and trajectory tracking for stochastic nonholonomic dynamic systems in the presence of unknown parameters. Prior to tracking controller design, the rigorous derivation of stochastic nonholonomic dynamic model is given. By reasonably introducing so-called internal state vector, a reduced dynamic model, which is suitable for control design, is proposed. Based on the backstepping technique in vector form, an adaptive tracking controller is then derived, guaranteeing that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The efficiency of the controller is demonstrated by a mechanics system: a vertical mobile wheel in random vibration environment.

New Approach of Tracking Control for a Class of Non-Minimum Phase Linear Systems

2007 ◽  
Author(s):  
Bo Xie ◽  
Bin Yao
Keyword(s):  
Linear Systems ◽  
Trajectory Planning ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Trajectory Design ◽  
Minimum Phase ◽  
Control Approach ◽  
Tracking Controller ◽  
Phase Systems

The paper presents a new tracking control approach for a class of non-minimum phase linear systems. The proposed approach consists of two parts: trajectory planning and tracking controller design. The trajectory planning is solved as an optimization problem to improve the achievable transient performance under the fundamental constraints associated with perfect tracking of non-minimum phase systems. The recently proposed adaptive robust tracking controller for a class of non-minimum phase systems is then applied to guarantee that the tracking error dynamics can be stabilized with bounded internal states. The effectiveness of the proposed approach is illustrated through simulation on tracking control of a second order non-minimum phase linear system. Further works are underway to extend the proposed control strategy and trajectory design to a class of non-minimum phase nonlinear systems.

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