Multirate control strategies for avoiding sample losses. Application to UGV path tracking

Salt, J.; Alcaína, José; Cuenca, Ángel; Baños, Alfonso

doi:10.1016/j.isatra.2020.01.025

Cited by 8 publications

(5 citation statements)

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“…In (Kim, 2020) published a book describing and explaining both methods, especially the vector decomposition method. Following this research, Friedland applied the technique of frequency analysis to periodic control structures, and this theory was developed by Salt et al (2020). To systems with multiple feedback loops and different sampling rates.…”

Section: Introductionmentioning

confidence: 99%

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A novel optimal approach for control law of multi-rate systems with different rate operations

Roosta

Soltanimehr

2022

International Journal on Smart Sensing and Intelligent Systems

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The main purpose of this study is to propose a method to achieve optimal response and performance of the multi rate systems in existence of different sampling rates and to avoid data losses in such systems. In this paper, a new approach based on the multi-rate digital system is proposed. Based on this method, we will be able to maintain optimal performance of these systems without losing data, in addition to establishing connections between subsystems with different sampling rates. By the proposed method, not only the effect of different sampling rates in multi-rate systems is ignored, but also, we can connect subsystems with different rate operations without compromising system performance and data loss which simplified system design and sensor selection by the digital system designers. This means the designer can choose any sensor without concerning about the sampling rate and the operation rate of the system and matching them together. Finally, a guided missile with different sampling rates between the seeker, autopilot, guidance law and the output feedback are simulated and its effective performance in pursuit, hitting and smooth motion toward the target in a motion scenario is shown.

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Section: Introductionmentioning

confidence: 99%

“…In the same reference, Kranc came up with the idea of replacing multi-rate control instead of single-rate control in systems with variable dynamics (Li et al, 2002). Whitbeck presented a vectoring method for key analysis and generalized it to flight control issues (Harvey and Pope, 1982;Salt et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

A novel optimal approach for control law of multi-rate systems with different rate operations

Roosta

Soltanimehr

2022

International Journal on Smart Sensing and Intelligent Systems

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“…An unmanned ground vehicle (UGV) can be defined as a land-based vehicle that is capable of intelligent motion and action without human input [1]. UGVs can be used in a huge number of applications such as path tracking [2], storage [3], surveillance [4], transportation [5], in unstructured environments [6] (e.g., search and rescue operations [7], planetary exploration [8], agricultural works [9]), and so on. In our work, a path tracking application is developed, using a two-wheeled differential drive robot as UGV.…”

Section: Introductionmentioning

confidence: 99%

Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation

Carbonell

Cuenca

Casanova

et al. 2021

Sensors

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In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and orientation can only be sensed at a slower rate. Designing a dynamic controller at this slower rate implies not reaching the desired control requirements, and hence, the UGV is not able to follow the predefined path. The use of dual-rate extended Kalman filtering techniques enables the estimation of the fast-rate non-available position and orientation measurements. As a result, a fast-rate dynamic controller can be designed, which is provided with the fast-rate estimates to generate the control signal. The fast-rate controller is able to achieve a satisfactory path following, outperforming the slow-rate counterpart. Additionally, the dual-rate extended Kalman filter (DREKF) is fit for dealing with non-linear dynamics of the vehicle and possible Gaussian-like modeling and measurement uncertainties. A Simscape Multibody™ (Matlab®/Simulink) model has been developed for a realistic simulation, considering the contact forces between the wheels and the ground, not included in the kinematic and dynamic UGV representation. Non-linear behavior of the motors and limited resolution of the encoders have also been included in the model for a more accurate simulation of the real vehicle. The simulation model has been experimentally validated from the real process. Simulation results reveal the benefits of the control solution.

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“…This kind of analysis can provide tools for the efficient design of the networks. See for example, [32], where it is shown that a dual-rate strategy in the path following of a mobile robot can provide better results than an inferential strategy when losses of information are reported, and other scenarios such as power systems [33], [34] or pipeline networks [35], where the application of the method may provide benefits.…”

Section: Introductionmentioning

confidence: 99%

Stability and Synchronization of Switched Multi-Rate Recurrent Neural Networks

et al. 2021

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Several designs of recurrent neural networks have been proposed in the literature involving different clock times. However, the stability and synchronization of this kind of system have not been studied. In this paper, we consider that each neuron or group of neurons of a switched recurrent neural network can have a different sampling period for its activation, which we call switched multi-rate recurrent neural networks, and we propose a dynamical model to describe it. Through Lyapunov methods, sufficient conditions are provided to guarantee the exponential stability of the network. Additionally, these results are extended to the synchronization problem of two identical networks, understanding the synchronization as the agreement of both of them in time. Numerical simulations are presented to validate the theoretical results. The proposed method might help to design more efficient and less computationally demanding neural networks. INDEX TERMSRecurrent neural networks, multi-rate systems, switched systems, Lyapunov methods.

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Multirate control strategies for avoiding sample losses. Application to UGV path tracking

Cited by 8 publications

References 50 publications

A novel optimal approach for control law of multi-rate systems with different rate operations

A novel optimal approach for control law of multi-rate systems with different rate operations

Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation

Stability and Synchronization of Switched Multi-Rate Recurrent Neural Networks

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