Controlling tractor‐semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach

Sun, Hao; Yang, Luwen; Chen, Ye‐Hwa; Zhang, Xinrong

doi:10.1002/asjc.2372

Cited by 10 publications

(6 citation statements)

References 39 publications

(40 reference statements)

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“…The adaptive robust control (ARC) algorithm can improve the performances of servo systems effectively and achieve asymptotic convergence of the control parameters [18][19][20]. For example, Yao et al developed an adaptive robust controller that considered parameter uncertainty and nonlinear friction, thereby enhancing the tracking accuracies of rotational hydraulic servo systems [21].…”

Section: Advanced Control Scheme For Hydraulic Servo Systemsmentioning

confidence: 99%

Harmonic control of a dual‐valve hydraulic servo system with dynamically allocated flows

Xue

Chen

et al. 2022

Asian Journal of Control

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Modern industries face increasing demands to improve the precision and workability of equipment, leading to stringent requirements for hydraulic servo systems in terms of flow, accuracy, and output power. High‐flow servo valves and multi‐valve synchronous control methods have seen more applications in the industry to meet these demands. However, high‐flow servo valves are expensive and have unsatisfactory performance, and synchronous control methods require servo valves to have the same hydraulic characteristics, resulting in higher cost and lower accuracy of high‐flow hydraulic servo systems. Also, very little has been conducted on controlling single actuators using multiple valves. In this study, we design a novel dual‐valve hydraulic servo system structure with a high‐flow proportional directional valve that is connected in parallel with a low‐flow servo valve and further develop the mathematical model of this dual‐valve system. Next, a harmonic control scheme was proposed, which included a flow allocation layer and trajectory tracking layer. Thereby, we achieved optimal control of two valves, and robust performance was guaranteed. Finally, we investigate the relationships between the flows of two valves, the deadband of the proportional directional valve, and trajectory tracking errors. Experimental results show that the proposed control scheme can effectively adjust the output flow of each valve dynamically according to the tracking trajectory and the hydraulic characteristics of the two valves, and the tracking performance of the servo system is significantly improved. This method is promised to enable the realization of an economical, high‐flow, high‐precision hydraulic servo system that can be generally used in various fields, such as marine engineering and construction.

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Section: Advanced Control Scheme For Hydraulic Servo Systemsmentioning

confidence: 99%

Harmonic control of a dual‐valve hydraulic servo system with dynamically allocated flows

Xue

Chen

et al. 2022

Asian Journal of Control

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“…Herein, the duties are described as risk management in uncertain or adversarial conditions. Thus, minimax is optimal for scenarios where safeguarding against the worst-case outcome is crucial [33], [34], [35], [36], [37]. It is notably suitable to offer greater flexibility in defining goals.…”

Section: Introductionmentioning

confidence: 99%

Efficient Motion Planning With Minimax Objectives: Synergizing Interval Prediction and Tree-Based Planning

Vo,

Jung,

Kim

et al. 2024

IEEE Access

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“…Chen et al [17][18][19] realize the constraint tracking servo control of mechanical system based on U-K theory, and complete the optimal design of fuzzy mechanical system. Sun et al [20][21][22] adopt U-K theory to realize adaptive robust control of different mechanical systems considering the uncertainties. Zhen et al [23] design a systematic control method for constrained mechanical systems and apply in coordinated robot.…”

Section: Introductionmentioning

confidence: 99%

Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

et al. 2022

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In this paper, trajectory tracking control is investigated for lower extremity rehabilitation exoskeleton robot. Unknown perturbations are considered in the system which are inevitable in the reality. The trajectory tracking control is constructively treated as constrained control issue. To obtain the explicit equation of motion and analytical solution of lower extremity rehabilitation exoskeleton robot, Udwadia-Kalaba theory is introduced. Lagrange multipliers and pseudo variables are not needed in Udwadia-Kalaba theory, which is more superior than Lagrange method. On the basic of Udwadia-Kalaba theory, two constrained control methods including trajectory stabilization control and adaptive robust control are proposed. Trajectory stabilization control applies Lyapunov stability theory to modify the desired trajectory constraint equations. A leakage-type of adaptive law is designed to compensate unknown perturbations in adaptive robust control. Finally, comparing with nominal control and control method in [32], simulation results demonstrate the superiority of trajectory stabilization control and adaptive robust control in trajectory tracking control.

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Controlling tractor‐semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach

Cited by 10 publications

References 39 publications

Harmonic control of a dual‐valve hydraulic servo system with dynamically allocated flows

Harmonic control of a dual‐valve hydraulic servo system with dynamically allocated flows

Efficient Motion Planning With Minimax Objectives: Synergizing Interval Prediction and Tree-Based Planning

Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

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