Leader–Follower Synchronization of Uncertain Euler–Lagrange Dynamics with Input Constraints

Rosa, Muhammad Ridho

doi:10.3390/aerospace7090127

Cited by 9 publications

(5 citation statements)

References 45 publications

(69 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…adaptive control. Future work will include the design of NCS with networked constraints where the controller gain changing by time, adaptive control, to handle the uncertain networked induced delay [20], and the design of decentralized MPC in NCS scheme [21].…”

Section: Resultsmentioning

confidence: 99%

Networked control system stability analysis of pipeline system with networked-induced delay

2022

Self Cite

View full text Add to dashboard Cite

This paper presents the design of Networked Control Systems (NCS) for pipeline systems. NCS plays an important role in controlling and monitoring large-scale systems such as pipeline systems. To implement the NCS, one must derive the pipe model and consider the network communication constraints. Here, the pipeline model is divided into two sections for simplicity. For example, in a long pipeline system, one can use a higher number of sections in order to give a better result for the analysis. Then let’s consider a networked-induced delay as the network communication constraint. The discretize pipe dynamics model is derived to support the NCS scheme in the pipeline system. The stability analysis of the proposed NCS is derived by taking into account the small and the large networked-induced delay. Then the optimal LQR control is designed for both stabilizing and tracking. The stability region of the pipeline system in the NCS scheme with networked-induced delay is derived and depicted to provide stability information. The design of the proposed controller under network constraint (networked-induced delay) must consider the stability plot that is divided into the stable region and unstable region. In this research, let’s assume that it is possible to measure the exact time delay and then consider the allowable sampling time for the controller. The proposed controller is designed by considering the NCS scheme with time delay both for regulator and tracking problems. By using the proposed controller, the pipeline system can be controlled in the presence of network-induced delay, which commonly occurs in a distributed system. The simulation verifies the stability analysis of the proposed optimal control for the pipeline systems with the NCS scheme under networked induced delay

show abstract

Section: Resultsmentioning

confidence: 99%

Networked control system stability analysis of pipeline system with networked-induced delay

2022

Self Cite

View full text Add to dashboard Cite

show abstract

“…Another relevant future work could be to study input constraints (engine constraints). Some recent advances in this direction are References 22,35.…”

Section: Discussionmentioning

confidence: 99%

A minimal sensing and communication control strategy for adaptive platooning

Yang

Liu

2021

Adaptive Control & Signal

View full text Add to dashboard Cite

Several cooperative driving strategies proposed in literature, sometimes known as cooperative adaptive cruise control strategies, assume that both relative spacing and relative velocity with preceding vehicle are available from on-board sensors (laser or radar). Alternatively, these strategies assume communication of both velocity states and acceleration inputs from preceding vehicle. However, in practice, on-board sensors can only measure relative spacing with preceding vehicle (since getting relative velocity requires additional filtering algorithms); also, reducing the number of variables communicated from preceding vehicle is crucial to save bandwidth. In this work we show that, after framing the cooperative driving task as a distributed model reference adaptive control problem, the platooning task can be achieved in a minimal sensing and communication scenario, that is, by removing relative velocity measurements with preceding vehicle and by removing communication from preceding vehicle of velocity states. In the framework we propose, vehicle parametric uncertainty is taken into account by appropriately designed adaptive laws. The proposed framework is illustrated and shown to be flexible to several standard architectures used in cooperative driving (one-vehicle look-ahead topology, leader-to-all topology, multivehicle look-ahead topology).

show abstract

“…experiment in the case of sinusoidal with an amplitude of 0.25, 0.5, and 0.75 equal to 4.37 %, 6.37 %, and 6.56 %, respectively. Future work may include implementing adaptive control that takes into account the input saturation [15], where we know that the BBS system has limited servo actuation.…”

Section: B the Influence Of The Initial Definition And Saturation Val...mentioning

confidence: 99%

Design and application of models reference adaptive control (MRAC) on ball and beam

Romdlony

Rosa

Syamsudin

et al. 2022

J. Mechatron. Electr. Power Veh. Technol.

Self Cite

View full text Add to dashboard Cite

This paper presents the implementation of an adaptive control approach to the ball and beam system (BBS). The dynamics of a BBS are non-linear, and in the implementation, the uncertainty of the system's parameters may occur. In this research, the linear state-feedback model reference adaptive control (MRAC) is used to synchronize the states of the BBS with the states of the given reference model. This research investigates the performance of the MRAC method for a linear system that is applied to a non-linear system or BBS. In order to get a faster states convergence response, we define the initial condition of the feedback gains. In addition, the feedback gains are limited to get less oscillation response. The results show the error convergence is improved for the different sets of the sinusoidal reference signal for the MRAC with modified feedback gains. The ball position convergence improvement of MRAC with modified feedback gains for sinusoidal reference with an amplitude of 0.25, 0.5, and 0.75 are 35.1 %, 36 %, and 52.4 %, respectively.

show abstract

Leader–Follower Synchronization of Uncertain Euler–Lagrange Dynamics with Input Constraints

Cited by 9 publications

References 45 publications

Networked control system stability analysis of pipeline system with networked-induced delay

Networked control system stability analysis of pipeline system with networked-induced delay

A minimal sensing and communication control strategy for adaptive platooning

Design and application of models reference adaptive control (MRAC) on ball and beam

Contact Info

Product

Resources

About