Switching control for coordinated maneuvering of vehicular platoon with sensor failures

2019 ◽  
Vol 42 (8) ◽  
pp. 1429-1436
Author(s):  
Cunming Zou ◽  
Hongxing Li
Keyword(s):  
State Feedback ◽  
Controller Design ◽  
Design Method ◽  
State Feedback Control ◽  
Control Law ◽  
Sensor Failure ◽  
Control Scheme ◽  
Asymptotical Stable ◽  
Switching Controller ◽  
Linearized Model

The problem of nonlinear platoon control with sensor failure is studied in this paper. First, a vehicular platoon model involving sensor failure and nonlinearity is established, in which the nonlinear platoon is divided to a linearized model in addition to a nonlinear term. Then, based on the nonlinear model, a switching controller design method is proposed by using a discrete Lyapunov function and then the sufficient state feedback control law is achieved. It is shown that the obtained control scheme can achieve asymptotical stable. Simulations are given to show the efficiency of the proposed methods.

scholarly journals Delay-Dependent Guaranteed Cost Controller Design for Uncertain Neural Networks with Interval Time-Varying Delay

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
M. Rajchakit ◽  
P. Niamsup ◽  
T. Rojsiraphisal ◽  
G. Rajchakit
Keyword(s):  
Neural Networks ◽  
State Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Performance Measure ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Delayed Neural Networks ◽  
Guaranteed Cost

This paper studies the problem of guaranteed cost control for a class of uncertain delayed neural networks. The time delay is a continuous function belonging to a given interval but not necessary to be differentiable. A cost function is considered as a nonlinear performance measure for the closed-loop system. The stabilizing controllers to be designed must satisfy some exponential stability constraints on the closed-loop poles. By constructing a set of augmented Lyapunov-Krasovskii functionals combined with Newton-Leibniz formula, a guaranteed cost controller is designed via memoryless state feedback control, and new sufficient conditions for the existence of the guaranteed cost state feedback for the system are given in terms of linear matrix inequalities (LMIs). Numerical examples are given to illustrate the effectiveness of the obtained result.

LOOKING FORWARD TO THE INTELLIGENT ELECTRICAL MACHINE: ELECTRONICS AND MACHINES COMBINE THEIR ABILITIES

1995 ◽  
Vol 05 (01) ◽  
pp. 45-63
Author(s):  
DIETRICH NAUNIN
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Controller Design ◽  
Supply Voltage ◽  
Induction Machine ◽  
State Feedback Control ◽  
Electrical Machine ◽  
Precise Position ◽  
Electric Cars ◽  
Drive Systems

Electrical machines, more than 150 years old, have long been distinguished according to their mechanical structure and frequencies of their supply voltage (or current). This is not true any more after the electronic revolution. Since the fast development in power electronics as well as in control electronics these electronics can give any motor any desired speed-torque characteristic and any motor can become a servodrive having a very precise position control. By implementing digital control algorithms, mainly the cascaded, the state feedback or the cascaded state feedback control, and — if necessary, in addition — adaptive control procedures which compensate the variation of system parameters in the controller, the "intelligent electrical machine" — either with the synchronous or with the induction machine — is created. It is part of mechatronics. It can be installed in modern automated systems, in robots and tool machines, in all kinds of industrial drive systems as well as in locomotives and electric cars. Also modern methods like fuzzy logic and neural networks can be used. It seems that they will not create a second revolution in the control itself, but in the application areas of drives. They add some interesting features to the intelligent electrical machine and make it even more intelligent. They could also speed up the controller design in future.

Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers –

2017 ◽  
Vol 29 (3) ◽  
pp. 591-601
Author(s):  
Ryota Hayashi ◽  
◽  
Genki Matsuyama ◽  
Hisanori Amano ◽  
Hitomu Saiki ◽  
...  
Keyword(s):  
Feedback Control ◽  
Support System ◽  
State Feedback ◽  
Trajectory Control ◽  
State Feedback Control ◽  
Control Law ◽  
Reference Trajectory ◽  
Display System ◽  
Additional Reference ◽  
Nonlinear State

[abstFig src='/00290003/14.jpg' width='300' text='Amphibian vehicle maneuvering simulator' ] This study proposes a maneuvering support system for an amphibian vehicle by applying a nonlinear state feedback control law for vehicle trajectory control. We consider that the vehicle should not drift sideways for good driving performance. To derive a nonlinear state feedback control law, we have defined ‘Maneuvering Trajectory’ as an additional reference trajectory that is generated by the driver’s maneuver. We have constructed a Lyapunov-like function for the trajectory control system. In this paper, we construct a vehicle-maneuvering simulator and set a clockwise circular reference trajectory. The efficiency of the proposed maneuvering support system is shown in the maneuvering simulations. We consider the case where the propulsive forces of the vehicle have limited influence on maneuverability. A new warning display system is proposed so that the driver can recognize if his or her maneuver is not suitable. Then, we examine the feasibility of the proposed warning display system through several simulations.

Study on Fault-Tolerant Control Scheme for a Helicopter via Adaptive H∞ Control

2013 ◽  
Vol 455 ◽  
pp. 395-401 ◽  
Author(s):  
Xi Chen ◽  
Fu Yang Chen ◽  
Bin Jiang
Keyword(s):  
State Feedback ◽  
Fault Tolerant ◽  
Adaptive Method ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Flight Performance ◽  
Actuator Faults ◽  
Stabilization Problem ◽  
Control Scheme ◽  
Tolerant State

In this paper, the stabilization problem for the 3 Degree of Freedom (3-DOF) hovering system of Quadrotor with actuator faults is investigated. To handle the helicopter system, an H robust fault-tolerant state feedback control is proposed. In addition, an adaptive method is combined with fault-tolerant H control to improve the flight performance. A more practical actuator fault is built, and the model of the system is presented. The design operates in Linear Matrix Inequality (LMI) technique. Finally, the design was verified on both MATLAB and 3-DOF platform to exam the feasibility and stability of the method.

A Reduced-Order H∞ Controller Design for Linear Structures

2012 ◽  
Vol 170-173 ◽  
pp. 3334-3337
Author(s):  
Lian Hua Hu ◽  
Xiao Feng Yang
Keyword(s):  
State Feedback ◽  
Parametric Design ◽  
Controller Design ◽  
State Feedback Control ◽  
Matrix Equations ◽  
Linear Structures ◽  
Reduced Order ◽  
Disturbance Decoupling ◽  
Necessary And Sufficient ◽  
Sylvester Matrix Equations

A robust reduced-order H∞ controller for the linear structures is investigated. This controller is with disturbance decoupling. First, a necessary and sufficient condition for the H∞ state feedback control problem is established. Second, based on the parametric design approach for generalized Sylvester matrix equations, we obtain a reduced-order H∞ controller for linear structures. Finally, numerical example is given to illustrate the validity of the results.

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