Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-8960

Illés Vörös, Balázs Várszegi, D. Takács

引用次数: 5

Abstract

Lane keeping control of the single track vehicle model with linear tire characteristics is analyzed in the presence of time delay. In order to compensate time delay, the predictor control approach called finite spectrum assignment is applied. This controller uses an internal model of the plant to predict current system states in spite of the time delay. The predictions are based on a simplified version of the vehicle model, neglecting tire dynamics. The predictive control approach is compared with traditional feedback control using analytically derived stability maps and numerical simulations. Robustness to parameter mismatches and numerical issues related to the implementation of the control law are also analyzed.

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具有建模误差的有限频谱分配车道保持控制

分析了具有线性轮胎特性的单轨车辆模型在存在时滞情况下的车道保持控制问题。为了补偿时滞，采用了有限频谱分配预测器控制方法。该控制器使用对象的内部模型来预测当前系统的状态，尽管存在时间延迟。这些预测是基于车辆模型的简化版本，忽略了轮胎动力学。利用解析导出的稳定性图和数值模拟，将预测控制方法与传统的反馈控制方法进行了比较。对参数失配的鲁棒性和控制律实施的数值问题也进行了分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.