Model reference control approach for safe longitudinal control

2004 ◽  
Author(s):  
J.-J. Martinez ◽  
C. Canudas-de-Wit
Keyword(s):  
Longitudinal Control ◽  
Model Reference ◽  
Control Approach ◽  
Model Reference Control

Model-Reference Longitudinal Control for Automated Vehicle Systems

1980 ◽  
Vol 102 (2) ◽  
pp. 77-84 ◽  
Author(s):  
R. J. Caudill ◽  
S. L. Blasnik
Keyword(s):  
Behavioral Characteristics ◽  
Longitudinal Control ◽  
Model Reference ◽  
Automated Vehicle ◽  
Simulation Techniques ◽  
Traction Motors ◽  
Model Reference Control ◽  
Vehicle Systems ◽  
Control Concept ◽  
Fixed End

The problem of designing longitudinal control systems which provide acceleration and jerk limited response for automated vehicle systems is examined. Non-dimensional models of vehicles propelled by d-c traction motors are used to evaluate the feasibility of the model-reference control concept. Analytical and computer simulation techniques are used to evaluate performance and assure critical string behavioral characteristics - asymptotic string stability and fixed end-point speed transition region (proper curve negotiation).

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

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