scholarly journals A path-tracking algorithm using predictive Stanley lateral controller

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097485
Author(s):  
Ahmed AbdElmoniem ◽  
Ahmed Osama ◽  
Mohamed Abdelaziz ◽  
Shady A Maged
Keyword(s):  
Autonomous Vehicles ◽  
Controller Design ◽  
Nonholonomic Constraints ◽  
Path Tracking ◽  
Control Approach ◽  
Current Controller ◽  
Wide Range ◽  
Yaw Stability ◽  
The Stability ◽  
Lateral Error

Path tracking is one of the most important aspects of autonomous vehicles. The current research focuses on designing path-tracking controllers taking into account the stability of the yaw and the nonholonomic constraints of the vehicle. In most cases, the lateral controller design relies on identifying a path reference point, the one with the shortest distance to the vehicle giving the current state of the vehicle. That restricts the controller’s ability to handle sudden changes of the trajectory heading angle. The present article proposes a new approach that imitates human behavior while driving. It is based on a discrete prediction model that anticipates the future states of the vehicle, allowing the use of the control algorithm in future predicted states augmented with the current controller output. The performance of the proposed approach is verified through several simulations on V-REP simulator with different types of maneuvers (double lane change, hook road, S road, and curved road) and a wide range of velocities. Predictive Stanley controller was used compared to the original Stanley controller. The obtained results of the proposed control approach show the advantage and the performance of the technique in terms of minimizing the lateral error and ensuring yaw stability by an average of 53% and 22%, respectively.

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

scholarly journals Design and Analysis of a Repetitive Current Controller for a Single-Phase Bridgeless SEPIC PFC Converter

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 131 ◽  
Author(s):  
Jinwoo Kim ◽  
Sanghun Han ◽  
Wontae Cho ◽  
Younghoon Cho ◽  
Hyunsoo Koh
Keyword(s):  
Controller Design ◽  
Harmonic Distortion ◽  
Input Current ◽  
Order Model ◽  
Third Order ◽  
Current Controller ◽  
The Stability ◽  
Small Signal Modeling ◽  
Fifth Order ◽  
Repetitive Controller

This paper studies a repetitive controller design scheme for a bridgeless single-ended primary inductor converter (SEPIC) power factor correction (PFC) converter to mitigate input current distortions. A small signal modeling of the converter is performed by a fifth-order model. Since the fifth-order model is complex to be applied in designing a current controller, the model is approximated to a third-order model. Using the third-order model, the repetitive controller is designed to reduce the input current distortion. Then, the stability of the repetitive controller is verified with an error transfer function. The proposed controller performance is validated by simulation, and the experiment results show that the input current total harmonic distortion (THD) is improved by applying the proposed controller for an 800 W bridgeless SEPIC PFC converter prototype.

Electrospinning Nanofibers: Measurements, Dynamics, and Control Strategy Development

2014 ◽  
Author(s):  
Yunshen Cai ◽  
Michael Gevelber
Keyword(s):  
Controller Design ◽  
Fiber Diameter ◽  
Operating Regime ◽  
Strategy Development ◽  
Process Conditions ◽  
Control Approach ◽  
Process Dynamics ◽  
Wide Range ◽  
Dynamics And Control ◽  
And Control

Electrospinning produces submicron fibers for a variety of applications using a wide range of polymers. Achieving the desired fiber diameter, maximizing productivity, and minimizing variation are important production objectives. This paper addresses several important areas needed to develop a general electrospinning control approach including: developing a correlation between measurements, process conditions, and the resulting fiber diameter, developing a method to determine an operating regime that meets manufacturing objectives, and identifying process dynamics for controller design.

A New Vibration Controller Design Using Consensus Technique

2015 ◽  
Author(s):  
Ehsan Omidi ◽  
S. Nima Mahmoodi
Keyword(s):  
Vibration Control ◽  
Controller Design ◽  
Active Vibration Control ◽  
Flexible Structures ◽  
Network Systems ◽  
Control Approach ◽  
Active Vibration ◽  
The Stability ◽  
Virtual Leader ◽  
Aluminum Beam

This paper discusses the concept of a new methodology for active vibration control of flexible structures using consensus control of network systems. In the new approach, collocated actuation/sensingpatches communicate with one another through a network with certain directed topology. A virtual leader is assigned to enforce the vibration amplitude at the place of each agent to zero. Since the modal states of the system are not available for the vibration control task, individual optimal observers are designed for each agent first. After describing the controller and examining the stability of the system, controller performance is verified using a clamped-clamped thin aluminum beam. According to the obtained numerical results, the new control approach successfully suppresses the vibration amplitudes, while the consensus design ensures that all agents are synchronized during the performance.

A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles

2018 ◽  
pp. 1-1 ◽  
Author(s):  
Changzhu Zhang ◽  
Jinfei Hu ◽  
Jianbin Qiu ◽  
Weilin Yang ◽  
Hong Sun ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Path Tracking ◽  
Steering Control ◽  
Control Approach ◽  
Fuzzy Observer

scholarly journals Small-Signal Analysis and Control of Soft-Switching Naturally Clamped Snubberless Current-Fed Half-Bridge DC/DC Converter

2020 ◽  
Vol 10 (17) ◽  
pp. 6130
Author(s):  
Koyelia Khatun ◽  
Vakacharla Venkata Ratnam ◽  
Akshay Kumar Rathore ◽  
Beeramangalla Lakshminarasaiah Narasimharaju
Keyword(s):  
Digital Signal Processor ◽  
Signal Analysis ◽  
Controller Design ◽  
Design Procedure ◽  
Digital Signal ◽  
Soft Switching ◽  
Small Signal ◽  
Small Signal Analysis ◽  
Current Controller ◽  
The Stability

This paper presents small-signal analysis of a soft-switching naturally clamped snubberless isolated current-fed half-bridge (CFHB) DC-DC converter using state-space averaging. A two-loop average current controller was designed and implemented on a digital signal processor. The complete design procedure is presented here. Simulation results using software PSIM 11.1 are shown to validate the stability of the control system and the controller design. Experimental results for the step changes in load current vividly demonstrated satisfactory transient performance of the converter and validated the developed small-signal model and the control design.

A novel adaptive control approach for path tracking control of autonomous vehicles subject to uncertain dynamics

2020 ◽  
Vol 234 (8) ◽  
pp. 2115-2126
Author(s):  
Ardashir Mohammadzadeh ◽  
Hamid Taghavifar
Keyword(s):  
Autonomous Vehicles ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Operating Conditions ◽  
Ground Vehicles ◽  
Control Approach ◽  
Autonomous Ground Vehicles ◽  
Lane Changes ◽  
Uncertain Dynamics

Autonomous ground vehicles are constantly exposed to matched/mismatched uncertainties and disturbances and different operating conditions. Consequently, robustness to resist the undesirable effect of changes in the nominal parameters of the vehicle is a significant provision for satisfactory path-tracking control of these vehicles. The accomplishment of lateral path-tracking control is an essential task expectable from autonomous ground vehicles, particularly during critical maneuvers, abrupt cornering, and lane changes at high speeds. This paper presents a new control approach based on immersion and invariance control theorem. The asymptotic stability of the proposed method is ensured and the adaptation laws for the parameters are derived based on the I&I stability theorem. The effectiveness of the proposed control method is confirmed for autonomous ground vehicles systems while making a double-lane-change at various forward speeds. The robustness of the proposed control method is evaluated under parametric uncertainties related to the autonomous ground vehicle and different road conditions. The obtained results suggest that the proposed control method holds the capacity to be applied effectively to the path-tracking task of autonomous ground vehicles under a broad range of operating conditions, parametric uncertainness, and external disturbances.

Robust Decentralized LFC Design in a Restructured Power System

2006 ◽  
Vol 6 (2) ◽  
Author(s):  
Hossein Shayeghi ◽  
Heidar Ali Shayanfar
Keyword(s):  
Power System ◽  
Controller Design ◽  
Singular Values ◽  
Local Area ◽  
Control Area ◽  
Operating Conditions ◽  
Load Frequency ◽  
Wide Range ◽  
The Stability ◽  
Frequency Controller

In this paper, a new approach based on µ-synthesis technique is presented for the robust decentralized load frequency controller design of a restructured multi area power under the possible contracts. In each control area, the connections between this area and the rest of the system and the effects of possible contracts are treated as a set of new disturbance signals to achieve decentralization. It is shown that, subject to a condition based on the structured singular values and H infinity norm, each local area load frequency controller can be designed independently. The stability condition for the overall system can be stated as to achieve a sufficient interaction margin and a sufficient gain and phase margin defined in classical feedback theory during each independent design. The proposed method is tested on a four-area power system with the possible contracts and compared with the PI controller for a wide range of operating conditions and load changes. The resulting controllers are shown to minimize the effects of load disturbances and maintain robust performance in the presence of specified uncertainties and system nonlinearities.

Sign in / Sign up

Export Citation Format

Share Document