Non‐fragile multi‐objective linear parameter‐varying controller design for vehicle lateral stability

Li, Pengxu; Li, Panshuo; Zhao, Jing; Zhang, Bin

doi:10.1049/iet-cta.2020.0514

Cited by 3 publications

(2 citation statements)

References 40 publications

(40 reference statements)

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“…It is worth noting that it is impractical to consider the vehicle longitudinal speed as a constant in the controller design [18]. Considering the problem that the vehicle longitudinal velocity is time-varying and the uncertainty of actuator saturation due to the failure of the drive actuator, a non-fragile linear parameter-varying (LPV) that satisfies the vehicle dynamics is proposed to limit the centroid sideslip angle and the yaw rate to ensure the lateral stability and handling performance of the vehicle [19].…”

Section: Domestic and Foreign Scholars Have Conducted Research On Fau...mentioning

confidence: 99%

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Zhang

Liu

2022

IEEE Access

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Aiming at stability and safety problems caused by the actuator failure of the automated guided vehicle under the condition of centroid position change. The four-wheel independent drive four-wheel independent steer (4WID/4WIS) AGV is studied for fault-tolerant control of single-wheel drive actuators under the centroid position variation condition. First, 3-DOF vehicle model, drive-wheel dynamics model, HSRI tire model, and the actuator loss of effectiveness model established. Second, a hierarchical controller is designed with an optimal input controller based on Model Predictive Control (MPC) theory of the upper layer, a desired yaw moment solver based on fuzzy theory of the middle layer, and a torque reconstruction controls distributor based on the control gain in the lower layer. Then, the AGV is simulated and analyzed in straight line and double line change conditions. The simulation results show that the yaw rate and the centroid sideslip angle can closely track the theoretical value. The difference between the theoretical value is kept within 5%. Finally, the 4WID/4WIS AGV prototype vehicle was developed and tested for straight-line and double-lane change condition. The difference between simulation and experiment was within 4%. The experimental results show that the designed controller is effective.INDEX TERMS 4WID/4WIS, MPC, fault-tolerant control, drive torque reconstruction, centroid variation.

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Section: Domestic and Foreign Scholars Have Conducted Research On Fau...mentioning

confidence: 99%

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Zhang

Liu

2022

IEEE Access

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“…The LPV techniques can cover a wide range of reference points and characterize the dynamics of complex systems, which makes LPV paradigm widely used in the engineering field, such as automotive systems [5][6][7], flight control [8], energy [9]. The LPV system has an innate advantage in characterizing the dynamic model of morphing aircraft in relation to state points and configurations.…”

Section: Introductionmentioning

confidence: 99%

Design of linear parameter‐varying controller for morphing aircraft using inexact scheduling parameters

Cai

Yang

et al. 2022

IET Control Theory & Appl

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In this paper, the design problem of Gain‐Scheduled Output‐Feedback (GSOF) controllers using inexact scheduling parameters for morphing aircraft during the wing transition process is addressed. Both the stability of the closed‐loop system and the L2 gain performance can be guaranteed under the controller based on measured (not actual) scheduling parameters. Firstly, the linear parameter‐varying (LPV) model of morphing aircraft is established by Jacobian linearization and the additive uncertainty is introduced into the scheduling parameters. By employing non‐linear transformations, the problem is formulated as the solution to a set of parameter‐dependent linear matrix inequalities (LMI) with a single‐line search parameter. Finally, the robustness of the flight control system to the wing transition process is verified under the condition of both the uncertainty of aerodynamic parameters and of scheduling parameters.

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Robust non-fragile finite frequency H∞ control for uncertain active suspension systems with time-delay using T-S fuzzy approach

Xie

Zhao

et al. 2021

Journal of the Franklin Institute

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Non‐fragile multi‐objective linear parameter‐varying controller design for vehicle lateral stability

Cited by 3 publications

References 40 publications

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Design of linear parameter‐varying controller for morphing aircraft using inexact scheduling parameters

Robust non-fragile finite frequency H∞ control for uncertain active suspension systems with time-delay using T-S fuzzy approach

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