Block diagonal dominant remotely operated vehicle model simulation using decentralized model predictive control

Lin, Weipeng; Chin, Cheng Siong

doi:10.1177/1687814017698886

Cited by 9 publications

(6 citation statements)

References 29 publications

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“…In these studies, the time features and the corresponding control methods have been considered. [26][27][28][29][30][31][32][33][34][35][36] A starting pressure is required to initiate flow without considering the underground water pressure. Therefore, the cement-based slurry belongs to a Bingham fluid instead of a Newton fluid.…”

Section: Introductionmentioning

confidence: 99%

Grout diffusion model in porous media considering the variation in viscosity with time

Hou

Sun

et al. 2019

Advances in Mechanical Engineering

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Grouting engineering is widely used in water plugging for geotechnical engineering. However, grout is usually treated as a Newton fluid and the viscosity is considered unchangeable over time during the grouting design process. This study proposes a grout diffusion model for porous media that considers the variation in viscosity with time. The flow equation is derived for a single smooth tubule. Then, the microequation of Bingham grout flowing in porous media is obtained. Finally, an assembled diffusion model of spheres and cylinders for grouting using a perforated pipe is proposed. A numerical simulation method is used to verify the grout diffusion mode. The research results can guide grouting design and practical grouting engineering in water plugging and reinforcement.

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Section: Introductionmentioning

confidence: 99%

Grout diffusion model in porous media considering the variation in viscosity with time

Hou

Sun

et al. 2019

Advances in Mechanical Engineering

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“…. , T 6 ½ > the control inputs vector and w = t w = f 1 , f 3 ½ > the wave disturbances vector, with components defined according to equation (16). Also, define y = z, u, w ½ > as the controlled output vector.…”

Section: Control Algorithmsmentioning

confidence: 99%

Station-keeping of a ROV under wave disturbance: Modeling and control design

Oliveira

Donha

Fleury

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part M:

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Remotely Operated Vehicles (ROVs) working close to the sea surface are subjected to wave disturbances that affect their positioning. To treat this problem, we present a control scheme for the dynamic positioning of ROVs under wave disturbances and at low operation depths. The approach is composed of an Augmented Wave Filter (AWF) based on the Extended Kalman Filter (EKF) algorithm and an Adaptive-Model Predictive Control (A-MPC). The filter provides the optimal motion states and wave height estimation to the A-MPC, which calculates the control efforts based on the receding horizon approach. The scheme is tested through numerical simulations on the depth control of the Mandi II-ROV at the diving plane. The results are compared to those of a standard Proportional-Integral-Derivative (PID) controller. To perform realistic simulations, a detailed mathematical model is presented, considering the rigid body-motion, hydrodynamic and hydrostatic forces, thrusters dynamics, and onboard sensor measurements. The simulations are performed for different scenarios, considering the dynamic positioning in still waters and the station-keeping under wave disturbances for significant heights of 1 and 2 m. The controller robustness to parameter variation is assessed by using Monte-Carlo simulation. Results have shown improved performance for the A-MPC in terms of positioning errors, motion oscillations, and drift attenuation in comparison to a PID controller. The Monte-Carlo simulation reveals enhanced robustness to the A-MPC, which is associated with the greater variance for the control forces. Also, the filter performed very well in all the tests, producing an accurate estimate of the wave-induced height and providing an off-set free control.

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“…Recently, more and more people pay attention to intelligent vehicle based on Cooperative Vehicle Infrastructure System [36][37][38][39][40][41][42][43]. Besides, vehicle control and system model was combined with transportation simulation [44][45][46][47][48][49][50][51][52].…”

Section: And Wu Investigated Lyapunov Concept Exponents and Applicatimentioning

confidence: 99%

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

Peng

Guan

Zhang

et al. 2017

Journal of Advanced Transportation

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A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.

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Block diagonal dominant remotely operated vehicle model simulation using decentralized model predictive control

Cited by 9 publications

References 29 publications

Grout diffusion model in porous media considering the variation in viscosity with time

Grout diffusion model in porous media considering the variation in viscosity with time

Station-keeping of a ROV under wave disturbance: Modeling and control design

Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

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