scholarly journals Exact Command Tracking Control Computations without Integration

2022 ◽  
Vol 21 ◽  
pp. 18-22
Author(s):  
Tain-Sou Tsay
Keyword(s):  
Tracking Control ◽  
Digital Controller ◽  
Phase Lag ◽  
Control Loop ◽  
Reference Input ◽  
Input Command

A digital controller for exact command tracking control without integration is derived from a periodic series. The ratios of adjacent values will be converged to unities after the output has tracked the reference input command. Integration in control loop usually introduces phase lag to slow command response and degrade performance.

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

Trajectory Tracking Control for Micro Unmanned Aerial Vehicles

2013 ◽  
Vol 798-799 ◽  
pp. 448-451
Author(s):  
Rui Yong Zhai ◽  
Wen Dong Zhang ◽  
Zhao Ying Zhou ◽  
Sheng Bo Sang ◽  
Pei Wei Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Flight Test ◽  
Guidance System ◽  
Test Results ◽  
Control Loop ◽  
Trajectory Tracking Control ◽  
Unmanned Air Vehicle ◽  
Air Vehicle

This article considers the problem of trajectory tracking control for a micro fixed-wing unmanned air vehicle (UAV). With Bank-to-Turn (BTT) method to manage lateral deviation control of UAV, this paper discusses the outer loop guidance system, which separates the vehicle guidance problems into lateral control loop and longitudinal control loop. Based on the kinematic model of the coordinated turning of UAV, the aircraft can track a pre-specified flight path with desired error range. Flight test results on a fixed-wing UAV have indicated that the trajectory tracking control law is quite effective.

scholarly journals Model predictive control of steering torque in shared driving of autonomous vehicles

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042095013
Author(s):  
Chunjiang Bao ◽  
Jiwei Feng ◽  
Jian Wu ◽  
Shifu Liu ◽  
Guangfei Xu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Hardware In The Loop ◽  
Control Loop ◽  
Vehicle Model ◽  
Automatic Driving ◽  
Steering Torque

The current path tracking control method is usually based on the steering wheel angle loop, which often makes the driver lose control of the automatic driving control loop. In order to involve the driver in the automatic driving control loop, and to solve the vehicle path tracking control problem with system robustness and model uncertainty, this paper puts forward a steering torque control method based on model predictive control algorithm. Based on the vehicle model, this method introduces the steering system model and the steering resistance torque model, and calculates the optimal control torque of the vehicle through the real-time vehicle status, so as to make up for the model mismatch, interference and other uncertainties, and ensure the real-time participation of the driver in the automatic driving control loop. To combine the nonlinear vehicle dynamics model with the steering column model, and to take the vehicle state parameters as the feedback variables of the model predictive controller model, then input the solution of the steering superposition control rate into the vehicle model, the design of the steering controller is realized. Finally, to carry out the simulation of lane keeping based on CarSim software and Simulink control model, and the hardware in-the-loop test on the hardware in-the-loop experimental platform of CarSim/LabVIEW-RT. The simulation and test results indicate that the designed torque loop path tracking control method based on model predictive control can help the driver track the target path better.

scholarly journals Multicellular feedback control of a genetic toggle-switch in microbial consortia

2020 ◽  
Author(s):  
Davide Fiore ◽  
Davide Salzano ◽  
Enric Cristòbal-Cóppulo ◽  
Josep M. Olm ◽  
Mario di Bernardo
Keyword(s):  
Feedback Control ◽  
Microbial Consortium ◽  
Microbial Consortia ◽  
Toggle Switch ◽  
Control Loop ◽  
Bacterial Populations ◽  
Agent Based ◽  
Memory Mechanism ◽  
Two Populations ◽  
Reference Input

AbstractWe describe a multicellular approach to control a target cell population endowed with a bistable toggle-switch. The idea is to engineer a synthetic microbial consortium consisting of three different cell populations. In such a consortium, two populations, the Togglers, responding to some reference input, can induce the switch of a bistable memory mechanism in a third population, the Targets, so as to activate or deactivate some additional functionalities in the cells. Communication among the three populations is established by orthogonal quorum sensing molecules that are used to close a feedback control loop across the populations. The control design is validated via in-silico experiments in BSim, a realistic agent-based simulator of bacterial populations.

Deadbeat Performance of Error-Sampled Feedback Time-Delayed Control Systems

1969 ◽  
Vol 11 (3) ◽  
pp. 295-304
Author(s):  
A. K. Kevorkian ◽  
J. I. Soliman
Keyword(s):  
Control Systems ◽  
State Transition ◽  
Parameter Variation ◽  
The State ◽  
Settling Time ◽  
Digital Controller ◽  
Control Loop ◽  
Variable Gain ◽  
Delayed Control Systems ◽  
Feedback Time

In this paper the minimal overshoot and settling time of error-sampled feedback time-delayed control systems was carried out by incorporating a digital controller in the forward path of the control loop. Using the state-transition method the controller was designed by applying the variable-gain approach. The effect of parameter variation on the compensated response is also studied.

Control of DVD Players; Focus & Tracking Control Loop

2004 ◽  
pp. 101-128
Author(s):  
Bohumil Hnilička ◽  
Alina Besançon-Voda ◽  
Giampaolo Filardi
Keyword(s):  
Tracking Control ◽  
Control Loop

Reference Input Generation for High Speed Coordinated Motion of a Two Axis System

1991 ◽  
Vol 113 (1) ◽  
pp. 67-74 ◽  
Author(s):  
J. Butler ◽  
B. Haack ◽  
M. Tomizuka
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Actuator Saturation ◽  
Phase Error ◽  
Smooth Curve ◽  
Order System ◽  
Positioning System ◽  
Reference Trajectories ◽  
Reference Input ◽  
Zero Phase

A method for generating two-dimensional reference trajectories to be followed by a linear second-order system under feedforward/feedback control is proposed. A differential equation is derived which assigns tracking velocity and tangential tracking acceleration as functions of time in such a way to allow high speed motion through an arbitrary smooth curve while guaranteeing the absence of actuator saturation. A method for using preview information for motion along curves with corners is also presented. The results are verified by simulation of a two axis cartesian positioning system under discrete time zero phase error tracking control.

Orbit Motion Tracking Control for Rotating Machine With Magnetic Suspensions

2005 ◽  
Author(s):  
Guangyoung Sun
Keyword(s):  
Tracking Control ◽  
Motion Tracking ◽  
Sliding Mode ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Rotating Stall ◽  
Phase Lag ◽  
Potential Applications ◽  
Optimal Bias ◽  
High Bandwidth

Conventional use of active magnetic bearings (AMB) focuses on keeping a rotor centered at the zero reference. In this research, a control algorithm is developed for an alternate task of tracking high-bandwidth sinusoidal targets: whirling and conical motions. To increase robustness to the parametric uncertainty and the nonlinearity of inherent AMB dynamics, the sliding mode control is developed based on an original nonlinear AMB model with an uncertain magnetic force constant. Performance indices, such as the I2R power loss, the tracking error and the phase lag, are compared for the two target motions, and they are also utilized to find an optimal bias current of the actuators. Simulation results show that the rotor follows the two high-bandwidth large motion targets with low tracking error and phase lag in the presence of parametric uncertainty. Orbit motion tracking control has a variety of potential applications in rotating machinery such as active rotating stall control, in which seal clearance is required to follow a sinusoidal dynamic motion.

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