Research on Optimal Control Method and Key Technology of New Energy Power System

2021 ◽  
Keyword(s):  
Optimal Control ◽  
Power System ◽  
Control Method ◽  
Key Technology ◽  
Optimal Control Method ◽  
New Energy

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

scholarly journals Reconfiguring Smart Structures Using Approximate Heteroclinic Connections in a Spring-Mass Model

2015 ◽  
Author(s):  
Jiaying Zhang ◽  
Colin R. McInnes
Keyword(s):  
Optimal Control ◽  
Control Method ◽  
Smart Structures ◽  
Polynomial Method ◽  
Reference Trajectory ◽  
Sensors And Actuators ◽  
Embedded Computing ◽  
Equal Energy ◽  
Optimal Control Method ◽  
Heteroclinic Connection

Several new methods are proposed to reconfigure smart structures with embedded computing, sensors and actuators. These methods are based on heteroclinic connections between equal-energy unstable equilibria in an idealised spring-mass smart structure model. Transitions between equal-energy unstable (but actively controlled) equilibria are considered since in an ideal model zero net energy input is required, compared to transitions between stable equilibria across a potential barrier. Dynamical system theory is used firstly to identify sets of equal-energy unstable configurations in the model, and then to connect them through heteroclinic connection in the phase space numerically. However, it is difficult to obtain such heteroclinic connections numerically in complex dynamical systems, so an optimal control method is investigated to seek transitions between unstable equilibria, which approximate the ideal heteroclinic connection. The optimal control method is verified to be effective through comparison with the results of the exact heteroclinic connection. In addition, we explore the use of polynomials of varying order to approximate the heteroclinic connection, and then develop an inverse method to control the dynamics of the system to track the polynomial reference trajectory. It is found that high order polynomials can provide a good approximation to true heteroclinic connections and provide an efficient means of generating such trajectories. The polynomial method is envisaged as being computationally efficient to form the basis for real-time reconfiguration of real, complex smart structures with embedded computing, sensors and actuators.

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