On a modification approach to a class of Lyapunov-based robust controllers subject to input constraint

Peng, Shou-Tao

doi:10.1016/j.jfranklin.2004.01.002

Cited by 4 publications

(3 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…According to the desired motion on the reference path (see figure 4), we choose the set point (14) as [∂v d , β d , γ d , y c,d , φ d ] = [0 m/sec, 0 rad, 0.0415 rad/sec, 0 m, 0 rad] that in turn leads to the following ideal condition for the state of the vehicle system to converge to: from these parameters that both the inequality (18) and Assumption 4 are satisfied and δ = 0.0842. By using these estimated parameters, we can therefore prepare the numerical values of (Ã,B,D,δ) in ARE (32) and LMI (33).…”

Section: The Controller Construction and Simulation Resultsmentioning

confidence: 99%

“…Under the uncertainties of both the tire/road condition (r e , k s , k) and aerodynamic term σ aero ∈ σ , the control objective is two-fold: one is to achieve the set point regulation (14), and the other is to limit all the magnitudes of the quasi-steady-state combined wheel slips (12) below a pre-specified value s c .…”

Section: Assumptionmentioning

confidence: 99%

“…Choosing (ε, P ε , γ H ) in the above manner is known as a low-and-high gain technique developed for the bounded control design [13,14]. By this technique, the stabilization region under bounded control can be effectively enlarged and utilization of the constrained control (i.e.…”

Section: Integral Compensation and Augmented Systemmentioning

confidence: 99%

See 2 more Smart Citations

On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

Peng

Chang

Sheu

2007

Vehicle System Dynamics

Self Cite

View full text Add to dashboard Cite

This paper presents a robust bounded controller that prevents an autonomous 4WS4WD vehicle from wheel skidding in presence of uncertainties of both tire/road condition and aerodynamic drag. For eliminating the steady-state error of path tracking, this control scheme incorporates integral compensation into a robust low-and high-gain technique, which in our earlier work has been introduced to achieve the anti-skidding. In comparison, this new proposed scheme ensures the path-tracking error can vanish asymptotically without incurring high-frequency chattering in the control signals. Simulation shows that, under the uncertainty effects, the proposed controller effectively limits the combined wheel slip and achieves the asymptotic path tracking. Moreover, the control inputs of wheel torque and wheel steering are coordinated well in response to this new control scheme.

show abstract

Section: The Controller Construction and Simulation Resultsmentioning

confidence: 99%

Section: Assumptionmentioning

confidence: 99%

See 1 more Smart Citation

On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

Peng

Chang

Sheu

2007

Vehicle System Dynamics

Self Cite

View full text Add to dashboard Cite

show abstract

A robust bounded control for an autonomous vehicle subject to combined wheel slip constraint

Peng

Sheu

Chang

2005

Journal of the Chinese Institute of Engineers

View full text Add to dashboard Cite

This paper presents a robust bounded control that prevents wheel skidding for an autonomous 4WS4WD vehicle under uncertain tire/road conditions with aerodynamic drag. Constraints on combined wheel slip are incorporated, a priori, in design to prevent skidding. A robust low-and-high gain technique is used to suppress the tracking error, and to enhance the utilization of the limited wheel slip. Simulation shows that, under uncertain tire/road conditions, with aerodynamic drag, the proposed control scheme can effectively limit the combined wheel slip, and it achieves the goal of path tracking. Moreover, the control inputs of wheel torque and wheel steering are coordinated well during vehicle cornering.

show abstract

On a Robust Bounded Control Design of the Combined Wheel Slip for an Autonomous 4WS4WD Ground Vehicle

Peng

Hsu²,

Chang³

Proceedings of the 44th IEEE Conference on Decision and Control

View full text Add to dashboard Cite

On a modification approach to a class of Lyapunov-based robust controllers subject to input constraint

Cited by 4 publications

References 21 publications

On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

A robust bounded control for an autonomous vehicle subject to combined wheel slip constraint

On a Robust Bounded Control Design of the Combined Wheel Slip for an Autonomous 4WS4WD Ground Vehicle

Contact Info

Product

Resources

About