Robust adaptive control for continuous wheel slip rate tracking of vehicle with state observer

Zhang, Jiaxu; Zheng-tang, Shi; Yang, Xiong; Zhao, Jian

doi:10.1177/0020294020928155

Cited by 7 publications

(6 citation statements)

References 29 publications

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“…Proof. Choosing the Lyapunov function as V(X) = X T PX and taking its time derivative, along the closed-loop system (32), we obtain…”

Section: Mismatched Uncertain Linear Systemmentioning

confidence: 99%

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Adaptive optimal control approach to robust tracking of uncertain linear systems based on policy iteration

Wang

2021

Measurement and Control

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In this study, an optimal adaptive control approach is established to solve the robust output tracking problem of a class of continuous time uncertain linear systems based on the policy iteration (PI) in actor-critic algorithm. First, by augmenting the integral variables of the tracking error into state variables, the robust tracking problem is transformed into a robust control problem of an augmented uncertain linear system. It is proven that the robust control law of the augmented system enables the output of the considered system to track a polynomial time signal asymptotically. Second, an optimal control method in the corresponding auxiliary nominal system is established, and based on the Bellman optimality principle, PI algorithms are proposed to solve online tracking controllers for the matched and the mismatched uncertain systems. Finally, for testing the availability of the proposed approach and theoretical results, two numerical experiments are provided.

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“…Proof. Choosing the Lyapunov function as V(X) = X T PX and taking its time derivative, along the closed-loop system (32), we obtain…”

Section: Mismatched Uncertain Linear Systemmentioning

confidence: 99%

“…The robust tracking problem has been investigated in many studies. [9][10][11][12]32,34 Schmitendorf et al proposed a robust tracking control approach for time-invariant uncertain system with unknown constant disturbances. 9 Benson and Schmitendorf considered a robust tracking problem by using observer-based augmented system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive optimal control approach to robust tracking of uncertain linear systems based on policy iteration

Wang

2021

Measurement and Control

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“…In many literatures, FOSO is mostly used for the estimation of motor speed, taking the flux linkage and current as state variables. 10,11 For example, in Song et al, 12 the pole assignment method is used to design the feedback increasing matrix G, and the sensorless control of asynchronous motor is realized. However, the adaptive law of speed identification is not given in this reference.…”

Section: Introductionmentioning

confidence: 99%

Self-starting control strategy of variable speed pumped storage unit based on adaptive full order state observer

Zhu

Ruan

2022

Measurement and Control

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When the variable speed pumped storage unit operates in the electrical state, the self-starting control strategy is generally used to start the process from zero speed to grid connection, which saves the starting device of the traditional constant speed unit and saves the construction cost of the unit. For the self-starting control process, the traditional open-loop flux calculation method will produce cumulative errors in the amplitude and angle of the flux when the motor parameters change. To solve this problem, an adaptive full order state observer is designed to observe the motor stator flux, which has stronger parameter robustness. Based on the flux observation, the speed adaptive law is designed to estimate the rotor speed and position angle, and the speed sensorless vector control of variable speed pumped storage unit is accomplished. The simulation results show that compared with the open-loop flux calculation method, the full order state observer can greatly reduce the flux estimation error and accurately estimate the rotor speed and position angle.

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“…Intelligent vehicle is a new generation integrated system integrating Internet, communication, intelligent control, environment awareness and path planning. [1][2][3][4] The application of intelligent driving technology greatly improves the active safety, ride comfort and handling stability of automobiles. 5 At present, it has become the focus of research in various countries and an important part of intelligent transportation system.…”

Section: Introductionmentioning

confidence: 99%

Intelligent vehicle lane change trajectory control algorithm based on weight coefficient adaptive adjustment

Wang

Fei

et al. 2021

Advances in Mechanical Engineering

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In order to improve the trajectory smoothness and the accuracy of lane change control, an adaptive control algorithm based on weight coefficient was proposed. According to lane change trajectory constraint conditions, the sixth-order polynomial lane change trajectory applied to intelligent vehicles was constructed. Based on the vehicle model and the model predictive control theory, the time-varying linear variable path vehicle predictive model was derived by combining soft constraint of the side slip angle. Combined with fuzzy control algorithm, the weight coefficient of the deviation of the lateral displacement was dynamically adjusted. Finally, the FMPC (model predictive controller based on fuzzy control) and MPC controller were compared and analyzed by co-simulation of CarSim and Simulink under different speeds. The simulation results show that the designed FMPC controller can track the lane change trajectory better, and the controller has better robustness when the vehicle changes lanes at different speeds.

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Robust adaptive control for continuous wheel slip rate tracking of vehicle with state observer

Cited by 7 publications

References 29 publications

Adaptive optimal control approach to robust tracking of uncertain linear systems based on policy iteration

Adaptive optimal control approach to robust tracking of uncertain linear systems based on policy iteration

Self-starting control strategy of variable speed pumped storage unit based on adaptive full order state observer

Intelligent vehicle lane change trajectory control algorithm based on weight coefficient adaptive adjustment

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