Robust Switched Velocity-Dependent Path-Following Control for Autonomous Ground Vehicles

Li, Panshuo; Lam, James; Lu, Renquan

doi:10.1109/tits.2023.3236113

Cited by 14 publications

(2 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…towards reducing lateral tracking deviation and maintains vehicle stability for both normal and high-speed conditions. • A switched velocity-dependent path-following control method is presented in [14],…”

Section: Existing Systemmentioning

confidence: 99%

Directional Optimization Model for Efficient Vehicle Control in Photovoltaic Systems

2024

nano-ntp

View full text Add to dashboard Cite

The problem of electric vehicle control with photovoltaic system and maximizing the span of the vehicle has been well studied. The methods estimate the span of vehicle based on the residual energy but does not consider the span maximization by diverting the vehicle according to various factors. This affects the performance of the vehicle and reduces the span expected. To handle this issue, an Directional Optimization Model (DOM) is presented to control the electric vehicle runs with the photovoltaic systems. The model is focused to increase the span of the vehicle than the expected one which is possible by choosing the direction for the vehicle in an optimized way. To perform this, the method uses the route map of the region and collects the traffic data. With the traffic data, the method identifies various routes in the direction of the vehicle and for each of them; it estimates the Directional Span Maximization Support (DSMS). With the value of DSMS, the method identifies the suitable route to reach the destination. The value of DSMS is measured according to number of factors like distance, energy depletion, speed, traffic, number of signals and diversions and so on. By performing directional optimization, the vehicle span has been greatly increased. The proposed method improves the performance of energy utilization and span maximization.

show abstract

Section: Existing Systemmentioning

confidence: 99%

Directional Optimization Model for Efficient Vehicle Control in Photovoltaic Systems

2024

nano-ntp

View full text Add to dashboard Cite

show abstract

“…Introduction. With the ever-accelerating development of multiple-mode plants and hybrid control systems, including aero-engines [24,26], ground vehicles [7,21], power systems [1,30], circuit systems [6], networked control [22] and so on, switched systems, as one kind of mathematical models to describe these systems, have attracted much attention in recent decades. A switched system consists of a finite set of subsystems and a switching signal which is responsible for the selection of the active subsystem at the current time.…”

mentioning

confidence: 99%

Bumpless transfer sliding mode control for discrete-time switched systems under average dwell-time switchings

Sun,

Yang

2024

DCDS-S

View full text Add to dashboard Cite

This paper is concerned with the bumpless transfer sliding mode control problem for discrete-time switched systems under average dwell-time (ADT) switching signals. In order to deal with the external disturbances and suppress the control input bumps, a sliding mode controller is synthesized with the combination of the bumpless transfer technique. Particularly, by introducing a reference input signal, a novel bumpless transfer constraint is imposed for the switched systems driven by the sliding mode control, and sufficient conditions are presented to ensure the stability as well as the bumpless transfer performance of the resultant sliding mode dynamics with the help of the ADT method and the Lyapunov function technique. Finally, the feasibility and effectiveness of the proposed results are demonstrated by two examples, including an application of an aero-engine control system.

show abstract

Dynamic event‐triggered‐based decentralized fault‐tolerant control for interconnected nonlinear time‐delay systems with unknown control directions

Shen,

Lin,

Cao

et al. 2024

Asian Journal of Control

View full text Add to dashboard Cite

The dynamic event‐triggered decentralized adaptive fault‐tolerant control strategy is designed for nonlinear interconnected systems with time delay and unknown control directions. The dynamic event‐triggered control scheme where the threshold parameters related to measurement errors are dynamically adjusted by introducing adaptive laws into the control law appropriately increases the time interval for controller update. Then, the Nussbaum function and linear transformation are employed to handle the coupling problem caused by actuator faults and unknown control directions. Meanwhile, the Lyapunov–Krasovskii function is utilized to compensate the effect of time delay and guarantees that all closed‐loop signals are bounded. The errors converge into bounded compact sets around the origin. The validity of the presented scheme is verified via a simulation example.

show abstract

Robust Switched Velocity-Dependent Path-Following Control for Autonomous Ground Vehicles

Cited by 14 publications

References 40 publications

Directional Optimization Model for Efficient Vehicle Control in Photovoltaic Systems

Directional Optimization Model for Efficient Vehicle Control in Photovoltaic Systems

Bumpless transfer sliding mode control for discrete-time switched systems under average dwell-time switchings

Dynamic event‐triggered‐based decentralized fault‐tolerant control for interconnected nonlinear time‐delay systems with unknown control directions

Contact Info

Product

Resources

About