A new experimental ground vehicle with hybrid control and hybrid vision sensor

This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to a ground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtain the optimal sampling period to apply the controller in real experiences. The stability analysis was made in discrete time. The experimental platform is composed of a remote control toy car and a vision system. The vision system is built using a simple webcam and a diode laser. This system is fast, accurate, inexpensive and easy to implement. Simulations and experiments show the stability and robustness of the closed-loop system. The proposed control law performance is compared with a linear control algorithm.

Download Full-text

A study on a new criterion for minimum-energy perfect control in the state-space framework

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651818823093 ◽

2019 ◽

Vol 233 (7) ◽

pp. 779-787 ◽

Cited By ~ 3

Author(s):

Wojciech P Hunek ◽

Marek Krok

Keyword(s):

Energy Cost ◽

Control Algorithm ◽

Minimum Energy ◽

Energy Performance ◽

Control Law ◽

Performance Simulation ◽

New Approach ◽

Energy Behavior ◽

New Criterion ◽

Made In

In this article, an advanced study concerning the energy cost of the perfect control algorithm is provided. An application of different nonunique matrix inverses into perfect control law has resulted in remarkable influence on both control and state signals. Following the newly obtained issues, covering the minimum-energy behavior, a new related criterion is proposed here. Based on deterministic norm we can, in a simple way, estimate the crucial energy performance. Simulation examples made in MATLAB/Simulink environment show the high potential of a new approach considered in the article.

Download Full-text

A Preview Steering Autopilot Control Algorithm for Four-Wheel-Steering Passenger Vehicles

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2897361 ◽

1992 ◽

Vol 114 (3) ◽

pp. 401-408 ◽

Cited By ~ 37

Author(s):

A. Y. Lee

Keyword(s):

Control Algorithm ◽

Vision System ◽

Control Law ◽

Tracking Problem ◽

Computer Vision System ◽

Passenger Vehicles ◽

Lane Tracking ◽

Simulation Results ◽

Almost All ◽

Future Information

This paper addresses the control law design of a preview steering autopilot for a four-wheel-steering vehicle to perform automatic lane tracking. In the concept, an on-board computer vision system is used in lieu of the driver’s vision to track the roadway. The steering autopilot design is formulated as an optimal, discrete-time preview path tracking problem under the “perfect measurement” assumption. Simulation results indicate that the tracking performance of the steering autopilot was improved by preview relative to that calculated for an autopilot without preview. These results also indicate the existence of an effective preview time with which almost all the benefits of previewing future information can be obtained. This effective preview time is about three times the reciprocal of the autopilot’s bandwidth. Our study also indicates that preview steering autopilots can tolerate the use of actuators with a lower bandwidth than those designed without preview information.

Download Full-text

Control-Scheduling Codesign for NCS based Fuzzy Systems

International Journal of Computers Communications & Control ◽

10.15837/ijccc.2018.2.3243 ◽

2018 ◽

Vol 13 (2) ◽

pp. 251-267 ◽

Cited By ~ 2

Author(s):

Paul Erick Mendez-Monroy ◽

Israel Sanchez Dominguez ◽

Ali Bassam ◽

Oscar May Tzuc

Keyword(s):

Embedded System ◽

Fuzzy Controller ◽

Hybrid Control ◽

Computational Cost ◽

Sampling Period ◽

Networked Control System ◽

Fuzzy Scheduling ◽

The Stability ◽

Scheduler Design ◽

Low Computational Cost

In the present paper, a fuzzy codesign approach is proposed to deal with the controller and scheduler design for a networked control system which is physically distributed with a shared communication network. The proposed fuzzy controller is applied to generate the control with different sampling-actuation periods, the configuration supposes a strict actuation period disappears the jitter. The proposed fuzzy scheduling is designed to select the sampling-actuation period. So, the fuzzy codesign reduces the rate of transmission when the system is stable through the scheduler while the controller adjusts the control signal. The fuzzy codesign guarantees the stability of all the system if the network uncertainties do not exceed an upper bound and is a low computational cost method implemented with an embedded system. An unstable, nonlinear system is used to evaluate the proposed approach and compared to a hybrid control, the results show greater robustness to multiple lost packets and time delays much larger than the sampling period. (This paper is an extension of [20]. Reprinted (partial) and extended, with permission based on License Number 4275590998661 IEEE, from "Electrical Engineering, Computing Science and Automatic Control, 2017 14th International Conference on")

Download Full-text

Stability of the dynamic shifting process in the vehicle transmission with the input shaper

MATEC Web of Conferences ◽

10.1051/matecconf/201821102007 ◽

2018 ◽

Vol 211 ◽

pp. 02007 ◽

Cited By ~ 1

Author(s):

Alexander Taratorkin ◽

Victor Derzhanskii ◽

Igor Taratorkin

Keyword(s):

Numerical Simulation ◽

Natural Frequency ◽

Control Algorithm ◽

Control Law ◽

Single Node ◽

Input Shaper ◽

Inertial Parameters ◽

Wheel Drive ◽

And Performance ◽

The Stability

This paper investigates stability of the dynamic process of gear shift in the vehicle transmission with the input shapers (IS) taking in consideration uncertainty of the natural frequency of the mechanical system. The proposed control algorithm increases the stability of the researched system with variation of its elastic and inertial parameters. The control law with guaranteed asymptotic stability is obtained for full load of the vehicle when the all-wheel drive is turned on. The monitoring of the state and performance of the required parameters for the regulation of input shapers are tested by means of numerical simulation. Analyzing the results it is established that the best stability is reached by the adaptive setting of the input shapers in accordance with controlled value of the natural frequency of the lowest single-node mode.

Download Full-text

Hybrid Control for Seismological Nonlinear Structures on Liapunov’s Theory

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.166-169.1237 ◽

2012 ◽

Vol 166-169 ◽

pp. 1237-1240

Author(s):

Ying Pan ◽

Tong Zhao

Keyword(s):

Control Algorithm ◽

Base Isolation ◽

Control Method ◽

Hybrid Control ◽

Liapunov Function ◽

Control Law ◽

Nonlinear Structures ◽

Non Linear ◽

Restoring Forces ◽

Residual Deformations

In this paper, the hybrid control method of earthquake excited high-raised buildings is put forword. The building is modeled as a shear-wall type structure with non-linear hysteretic restoring forces after the structure enters the period of nonlinear and plasticity. A passive base-isolation is combined with actuators applied at the basement of the structure. A candidate for Liapunov function is found out based on the theory of energy. A non-linear control law is designed following the theory of Liapunov, since small residual deformations have to be tolerated due to inelastic energy dissipation, asymptotic stability will not be required, but only stability in the sense of Liapunov has to be guaranteed. Computer simulations demonstrate the efficiency of the proposed control algorithm.

Download Full-text

An optimization algorithm for a better PID controller

Science and Technology Development Journal ◽

10.32508/stdj.v17i2.1343 ◽

2014 ◽

Vol 17 (2) ◽

pp. 5-12

Author(s):

Tung Thanh Luu ◽

Nhan Le

Keyword(s):

Differential Equations ◽

Optimization Algorithm ◽

Pid Controller ◽

Control Algorithm ◽

Equations Of Motion ◽

Control Law ◽

End Effector ◽

Precise Position ◽

Accurate Model ◽

The Stability

A controller of a manipulator has studied and discussed for many years. However, many problems in controlling the precise position of the end effector are still continuing to be studied. To solve the precision of the Robot, two problems are attended. The first thing is to find the accuracy model of dynamics. The second thing is a controller for control law. However, it is so difficult to find an accurate model or differential equations of motion which is similar to the true manipulator. In addition, some unknown influences on the manipulator will make the accurate differential equations unworthy. Thus, a control algorithm will be introduced with PID controller which coefficients Kp, Kd, Ki are compensated by compensator found from optimization algorithm. With the new algorithm, the results have proved the stability and precision are better.

Download Full-text

Some special specifics of dimensioning of a hydraulic cylinder as an executive device of an electrohydraulic actuator system

10.18690/978-961-286-513-9.5 ◽

2021 ◽

Author(s):

Dragan Nauparac ◽

Nemanja Višnjić

Keyword(s):

Control Algorithm ◽

Hydraulic Cylinder ◽

Pi Control ◽

Control Law ◽

Operating Pressure ◽

Unstable System ◽

Dynamic Criterion ◽

Actuator System ◽

The Stability ◽

System 1

The hydraulic cylinder is dimensioned based on a static or dynamic criterion, assuming the desired operating pressure. The paper further analyzes the dimensioning of cylinders according to different load categories. The sizing of the hydraulic cylinder affects the choice of control algorithm parameters but also the stability of the system. How the cylinder dimension and the gain of the distributor affect the choice of the integral constant in the control algorithm in the case when we have the PI control law is especially considered. Then we have by definition an unsTable system 1 / s2 to which we provide stability through feedback.

Download Full-text