Synthesis of multiple model switching controllers using <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si0001.gif" overflow="scroll"><mml:msub><mml:mrow><mml:mi mathvariant="bold">H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:math> theory for systems with large uncertainties

Gao, Feng; Li, Shengbo Eben; Kum, Dongsuk; Zhang, Hui

doi:10.1016/j.neucom.2015.01.029

Cited by 19 publications

(2 citation statements)

References 23 publications

(32 reference statements)

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“…The Multi Model Switching (MMS) control is an efficient way to control plants with large model uncertainties and linearization errors, especially sudden changes in plant dynamics [27][28][29][30]. The overall range of plant dynamics is covered by a set of models instead of a single one, and then a scheduling logic switches the most appropriate controller into the control loop.…”

Section: Mms-based Acceleration Controlmentioning

confidence: 99%

“…The overall range of plant dynamics is covered by a set of models instead of a single one, and then a scheduling logic switches the most appropriate controller into the control loop. The speed of adaptation and transient performance can be significantly improved by the instantaneous switching among candidate controllers [29,30]. Another benefit of MMS control is its potential to enclose the input-output behaviours to a required small range.…”

Section: Mms-based Acceleration Controlmentioning

confidence: 99%

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Robust Accelerating Control for Consistent Node Dynamics in a Platoon of CAVs

Gao¹,

Li²,

Li³

2016

Autonomous Vehicle

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Driving as a platoon has potential to significantly benefit traffic capacity and safety. To generate more identical dynamics of nodes for a platoon of automated connected vehicles (CAVs), this chapter presents a robust acceleration controller using a multiple model control structure. The large uncertainties of node dynamics are divided into small ones using multiple uncertain models, and accordingly multiple robust controllers are designed. According to the errors between current node and multiple models, a scheduling logic is proposed, which automatically selects the most appropriate candidate controller into loop. Even under relatively large plant uncertainties, this method can offer consistent and approximately linear dynamics, which simplifies the synthesis of upper level platoon controller. This method is validated by comparative simulations with a sliding model controller and a fixed H ∞ controller.

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Section: Mms-based Acceleration Controlmentioning

confidence: 99%

Section: Mms-based Acceleration Controlmentioning

confidence: 99%