| 1. |
- Dabiri, Azita, 1984, et al.
(författare)
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Distributed LPV state-feedback control under control input saturation
- 2017
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Ingår i: IEEE Transactions on Automatic Control. - 0018-9286 .- 1558-2523. ; 62:5, s. 2450-2456
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Tidskriftsartikel (refereegranskat)abstract
- Developed in this note is a scheduled state-feedback controller synthesis method for discrete-time Linear Parameter Varying (LPV) systems subjected to control input saturation constraints. The static state-feedback gain is scheduled with an exact replica of the parameter matrix. The saturation effect is modeled by introducing time-varying parameters as functions of the control inputs, which are also used to schedule the controller. The synthesis method is then specialized to distributed state-feedback by imposing a particular structure on the feedback gain matrix. An explicit formula is also derived for the computation of the distributed control input from a nonlinear equation. The viability of the proposed method is tested in a simulation environment, for a ramp meter traffic flow control problem.
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| 2. |
- Gupta, Ankit, 1988, et al.
(författare)
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Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control
- 2017
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Ingår i: IEEE Conference on Decision and Control. - 9781509028733 ; 2018-January, s. 4946-4951
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Konferensbidrag (refereegranskat)abstract
- This paper proposes two algorithms to find a restricted-complexity robust control invariant (RCI) set along with a state-feedback gain. These algorithms are applicable to a linear system with additive disturbances subject to found polytopic state and input constraints. The RCI set is a polytope with restricted complexity, symmetric around the origin. Using a state transformation, novel LMI conditions are derived for the system constraints and invariance condition. Moreover, a new approach is proposed to iteratively increase the volume of the computed RCI set. The effectiveness of the proposed algorithm is illustrated by using lateral vehicle dynamics control example.
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| 3. |
- Köroglu, Hakan, 1971, et al.
(författare)
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Robust static output feedback synthesis for platoons under leader and predecessor feedback
- 2017
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Ingår i: International Journal of Robust and Nonlinear Control. - : Wiley. - 1099-1239 .- 1049-8923. ; 27:10, s. 1726-1756
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Tidskriftsartikel (refereegranskat)abstract
- A multi-objective static output feedback synthesis problem is considered for the control of vehicle platoonsunder leader and predecessor feedback. Sufficient linear matrix inequality conditions are derived for thesolvability of the problem in a way to facilitate static feed-forward as well. A novel velocity-dependent spacingpolicy is integrated into the control scheme together with a platoon model in which the emphasis on thepredecessor information can be adjusted by a normalized scalar weight. It is shown that the string stability ofthe spacing errors and the acceleration signals can always be guaranteed by choosing this weight sufficientlysmall. Moreover, provided that the time headway is chosen sufficiently large, the synthesis can be performedin a way to avoid the amplification of acceleration energies if compared with the leader. As a particularlyconvenient feature, the target spacing between the vehicles becomes smaller when moving backward alongthe platoon. The total increase in the platoon length caused by the introduction of the velocity-dependentscheme is shown to be bounded and decreasing with decreasing predecessor weight. It is also establishedthat the predecessor weight can be adjusted smoothly over time without endangering the formation stability.In addition to the optimization of the parameters of common fixed-structure controllers for general vehicle models, the proposed synthesis procedure provides various tools for improving robustness against measurement noise, communication delay, and model uncertainty.
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