In this work, we study a technique of exploiting open-loop-generated trajectories for a constrained control problem, using them to shape suitable nonquadratic control Lyapunov functions (CLFs). These trajectories, generated offline, allow detecting a suitable domain of attraction (DOA) in which a candidate Lyapunov function has a negative derivative. Given suitably constructed basis functions, our working machinery is based on linear programming; hence, the technique can be applied to problems of nontrivial size in terms of the number of basis functions and points in the state space. For linear systems, we seek convex Lyapunov functions, which are homogeneous polynomials. Simulation and experimental results for drone control are given.
{"title":"LP-Generated Control Lyapunov Functions With Application to Multicopter Control","authors":"Huu-Thinh Do;Franco Blanchini;Stefano Miani;Ionela Prodan","doi":"10.1109/TCST.2024.3396704","DOIUrl":"10.1109/TCST.2024.3396704","url":null,"abstract":"In this work, we study a technique of exploiting open-loop-generated trajectories for a constrained control problem, using them to shape suitable nonquadratic control Lyapunov functions (CLFs). These trajectories, generated offline, allow detecting a suitable domain of attraction (DOA) in which a candidate Lyapunov function has a negative derivative. Given suitably constructed basis functions, our working machinery is based on linear programming; hence, the technique can be applied to problems of nontrivial size in terms of the number of basis functions and points in the state space. For linear systems, we seek convex Lyapunov functions, which are homogeneous polynomials. Simulation and experimental results for drone control are given.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2090-2101"},"PeriodicalIF":4.9,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141063275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Control barrier functions (CBFs) when paired with quadratic programming (QP) offer an increasingly popular framework for control considering critical safety constraints. However, being closely related to artificial potential fields, they suffer from the classical stable spurious equilibrium point problem, in which the controller can fail to drive the system to the goal. The main contribution of this article is showing that this problem can be mitigated by introducing a circulation inequality as a constraint, which forces the system to explicitly circulate obstacles under some conditions. This circulation is introduced in the configuration space and is simple to implement once we have the CBF-constraint, adding a negligible complexity to the resulting optimization problem. Theoretical guarantees are provided for this framework, indicating, under appropriate conditions, the feasibility of the resulting optimization problem, continuity of the control input, characterization of the equilibrium points, a weak form of Lyapunov stability, and uniqueness of the equilibrium points. The provided experimental studies showcase the overall properties and applicability in different scenarios.
{"title":"Control Barrier Functions With Circulation Inequalities","authors":"Vinicius Mariano Gonçalves;Prashanth Krishnamurthy;Anthony Tzes;Farshad Khorrami","doi":"10.1109/TCST.2024.3372802","DOIUrl":"10.1109/TCST.2024.3372802","url":null,"abstract":"Control barrier functions (CBFs) when paired with quadratic programming (QP) offer an increasingly popular framework for control considering critical safety constraints. However, being closely related to artificial potential fields, they suffer from the classical stable spurious equilibrium point problem, in which the controller can fail to drive the system to the goal. The main contribution of this article is showing that this problem can be mitigated by introducing a circulation inequality as a constraint, which forces the system to explicitly circulate obstacles under some conditions. This circulation is introduced in the configuration space and is simple to implement once we have the CBF-constraint, adding a negligible complexity to the resulting optimization problem. Theoretical guarantees are provided for this framework, indicating, under appropriate conditions, the feasibility of the resulting optimization problem, continuity of the control input, characterization of the equilibrium points, a weak form of Lyapunov stability, and uniqueness of the equilibrium points. The provided experimental studies showcase the overall properties and applicability in different scenarios.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1426-1441"},"PeriodicalIF":4.9,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140150950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-13DOI: 10.1109/TCST.2024.3395722
Xuze Liu;Abbas Fotouhi;Marco Cecotti;Daniel Auger
This article presents a new method to describe the aerodynamics slipstreaming effect on the downstream car. This new approach can be implemented in lap time simulations (LTSs) and used to study the optimal trajectory of a downstream car operating in the wake of an upstream car. Two different scenarios are investigated using this method. In the energy-saving scenario for electric racing cars, the result shows the optimal strategy varies depending on the upstream car’s pace and the initial gap between the two cars. Chasing to stay in the wake is less effective when the initial gap is relatively big. In the overtaking scenario on an oval track, it is shown that the wake of the upstream car benefits the downstream car’s acceleration but, meanwhile, reduces the lateral performance limit of the downstream car due to downforce loss. In order to maintain a competitive performance, it is essential for the downstream car to choose an alternative racing line to drive outside the wake when braking and passing through a corner.
{"title":"Optimal Control of Race Car With Aerodynamic Slipstreaming Effect","authors":"Xuze Liu;Abbas Fotouhi;Marco Cecotti;Daniel Auger","doi":"10.1109/TCST.2024.3395722","DOIUrl":"10.1109/TCST.2024.3395722","url":null,"abstract":"This article presents a new method to describe the aerodynamics slipstreaming effect on the downstream car. This new approach can be implemented in lap time simulations (LTSs) and used to study the optimal trajectory of a downstream car operating in the wake of an upstream car. Two different scenarios are investigated using this method. In the energy-saving scenario for electric racing cars, the result shows the optimal strategy varies depending on the upstream car’s pace and the initial gap between the two cars. Chasing to stay in the wake is less effective when the initial gap is relatively big. In the overtaking scenario on an oval track, it is shown that the wake of the upstream car benefits the downstream car’s acceleration but, meanwhile, reduces the lateral performance limit of the downstream car due to downforce loss. In order to maintain a competitive performance, it is essential for the downstream car to choose an alternative racing line to drive outside the wake when braking and passing through a corner.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2136-2148"},"PeriodicalIF":4.9,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140933311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-13DOI: 10.1109/TCST.2024.3374152
Changyu Lee;Quoc Van Tran;Jinwhan Kim
This brief presents a cascade tube-based model predictive control (CTMPC) approach for safe ship berthing in the presence of unknown and bounded disturbances. The nonlinear dynamic model of a ship moving at low speeds is decomposed into a linear time-invariant (LTI) model for the surge system and a linear parameter-varying (LPV) model for the sway-yaw system, where the surge velocity is a scheduling parameter. The tube-based model predictive control (MPC) problems of these models are solved using the proposed CTMPC approach. The robust positively invariant (RPI) sets of the two subsystems and the geometry of the predefined separation area around the ship are considered to calculate the safe region of the ship under bounded disturbances. The proposed control architecture is shown to be both recursively feasible and stable, and simulation results are presented to verify its practical effectiveness.
{"title":"Safety-Guaranteed Ship Berthing Using Cascade Tube-Based Model Predictive Control","authors":"Changyu Lee;Quoc Van Tran;Jinwhan Kim","doi":"10.1109/TCST.2024.3374152","DOIUrl":"10.1109/TCST.2024.3374152","url":null,"abstract":"This brief presents a cascade tube-based model predictive control (CTMPC) approach for safe ship berthing in the presence of unknown and bounded disturbances. The nonlinear dynamic model of a ship moving at low speeds is decomposed into a linear time-invariant (LTI) model for the surge system and a linear parameter-varying (LPV) model for the sway-yaw system, where the surge velocity is a scheduling parameter. The tube-based model predictive control (MPC) problems of these models are solved using the proposed CTMPC approach. The robust positively invariant (RPI) sets of the two subsystems and the geometry of the predefined separation area around the ship are considered to calculate the safe region of the ship under bounded disturbances. The proposed control architecture is shown to be both recursively feasible and stable, and simulation results are presented to verify its practical effectiveness.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1504-1511"},"PeriodicalIF":4.9,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140129101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-12DOI: 10.1109/TCST.2024.3370908
Qian Xiao;Lincheng Li;Jingrui Zhang;Ming Xu
This brief is devoted to the power-constrained low-thrust optimal control problem (OCP). First, a general model for a class of power constraints is proposed by defining a piecewise smooth function, which describes the discontinuities of the control system. Subsequently, a recursive smoothing function is proposed to smooth the generalized discontinuous terms leading to a family of smooth OCPs, whose solutions converge to the solution of the discontinuous power-constrained OCP. The distinguished feature is that the variations of the control bound, caused by the power constraints, are embedded into the smoothing function, and are retrieved gradually. Consequently, the constrained and unconstrained OCPs are seamlessly connected, allowing an easy start and convergence improvement of the continuation. Moreover, a homotopy is constructed to guarantee a smooth connection, providing a differential homotopy path-tracking process. Finally, by comparing with the existing methods, typical scenarios are simulated to demonstrate the convergence improvement and efficiency of the proposed generic homotopic smoothing method.
{"title":"Generic Homotopic Smoothing for Low-Thrust Optimal Control Problems With Power Constraints","authors":"Qian Xiao;Lincheng Li;Jingrui Zhang;Ming Xu","doi":"10.1109/TCST.2024.3370908","DOIUrl":"10.1109/TCST.2024.3370908","url":null,"abstract":"This brief is devoted to the power-constrained low-thrust optimal control problem (OCP). First, a general model for a class of power constraints is proposed by defining a piecewise smooth function, which describes the discontinuities of the control system. Subsequently, a recursive smoothing function is proposed to smooth the generalized discontinuous terms leading to a family of smooth OCPs, whose solutions converge to the solution of the discontinuous power-constrained OCP. The distinguished feature is that the variations of the control bound, caused by the power constraints, are embedded into the smoothing function, and are retrieved gradually. Consequently, the constrained and unconstrained OCPs are seamlessly connected, allowing an easy start and convergence improvement of the continuation. Moreover, a homotopy is constructed to guarantee a smooth connection, providing a differential homotopy path-tracking process. Finally, by comparing with the existing methods, typical scenarios are simulated to demonstrate the convergence improvement and efficiency of the proposed generic homotopic smoothing method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1487-1494"},"PeriodicalIF":4.9,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140116579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-12DOI: 10.1109/TCST.2024.3371620
Defeng He;Jie Luo;Haiping Du
This work addresses the issue of optimizing energy consumption and coordination of heterogeneous electric vehicle (EV) platoons. To achieve this, we propose a novel approach called dynamic negotiation (DN)-based distributed economic model predictive control (DEMPC) for the platoon. This method is tailored to the heterogeneous characteristics and coordination requirements of EVs, dynamically optimizing consensus speed trajectories through online negotiation of a multiobjective utopia point. Considering factors such as electricity consumption and travel time, the optimization yields an optimal accessible speed for the platoon. To ensure the EVs cooperatively follow the optimal accessible speed while minimizing their self-interested economical cost (i.e., energy savings), we design the local EMPC of each EV, incorporating contractive constraints. The simulation results demonstrate the advantages of the proposed method in electricity savings and battery lifespan extension.
{"title":"Dynamic Negotiation-Based Distributed EMPC With Varying Consensus Speeds of Heterogeneous Electric Vehicle Platoons","authors":"Defeng He;Jie Luo;Haiping Du","doi":"10.1109/TCST.2024.3371620","DOIUrl":"10.1109/TCST.2024.3371620","url":null,"abstract":"This work addresses the issue of optimizing energy consumption and coordination of heterogeneous electric vehicle (EV) platoons. To achieve this, we propose a novel approach called dynamic negotiation (DN)-based distributed economic model predictive control (DEMPC) for the platoon. This method is tailored to the heterogeneous characteristics and coordination requirements of EVs, dynamically optimizing consensus speed trajectories through online negotiation of a multiobjective utopia point. Considering factors such as electricity consumption and travel time, the optimization yields an optimal accessible speed for the platoon. To ensure the EVs cooperatively follow the optimal accessible speed while minimizing their self-interested economical cost (i.e., energy savings), we design the local EMPC of each EV, incorporating contractive constraints. The simulation results demonstrate the advantages of the proposed method in electricity savings and battery lifespan extension.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1495-1503"},"PeriodicalIF":4.9,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140116542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-12DOI: 10.1109/TCST.2024.3372308
Albertus Johannes Malan;Pol Jané-Soneira;Felix Strehle;Sören Hohmann
In this article, we propose a novel four-stage distributed controller for a dc microgrid that achieves proportional power sharing and average voltage regulation for the voltages at actuated and unactuated buses. The controller is presented for a dc microgrid comprising multiple distributed generation units (DGUs) with time-varying actuation states, dynamic $RLC$ lines, nonlinear constant impedance, current, and power (ZIP) loads, and a time-varying network topology. The controller comprising a nonlinear gain, proportional–integral (PI) controllers, and two dynamic distributed averaging stages is designed for asymptotic stability. This constitutes deriving passivity properties for the dc microgrid, along with each of the controller subsystems. Thereafter, design parameters are found through a passivity-based optimization using the worst-case subsystem properties. The resulting closed loop is robust against DGU actuation changes, network topology changes, and microgrid parameter changes. The stability and robustness of the proposed control are verified via simulations.
{"title":"Passivity-Based Power Sharing and Voltage Regulation in DC Microgrids With Unactuated Buses","authors":"Albertus Johannes Malan;Pol Jané-Soneira;Felix Strehle;Sören Hohmann","doi":"10.1109/TCST.2024.3372308","DOIUrl":"10.1109/TCST.2024.3372308","url":null,"abstract":"In this article, we propose a novel four-stage distributed controller for a dc microgrid that achieves proportional power sharing and average voltage regulation for the voltages at actuated and unactuated buses. The controller is presented for a dc microgrid comprising multiple distributed generation units (DGUs) with time-varying actuation states, dynamic \u0000<inline-formula> <tex-math>$RLC$ </tex-math></inline-formula>\u0000 lines, nonlinear constant impedance, current, and power (ZIP) loads, and a time-varying network topology. The controller comprising a nonlinear gain, proportional–integral (PI) controllers, and two dynamic distributed averaging stages is designed for asymptotic stability. This constitutes deriving passivity properties for the dc microgrid, along with each of the controller subsystems. Thereafter, design parameters are found through a passivity-based optimization using the worst-case subsystem properties. The resulting closed loop is robust against DGU actuation changes, network topology changes, and microgrid parameter changes. The stability and robustness of the proposed control are verified via simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1410-1425"},"PeriodicalIF":4.9,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10471262","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140116476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-10DOI: 10.1109/TCST.2024.3396027
Dženan Lapandić;Christos K. Verginis;Dimos V. Dimarogonas;Bo Wahlberg
We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion planning used to generate trajectories with respect to kinodynamic constraints, and funnel control, also referred to as prescribed performance control (PPC), which enables trajectory tracking in the presence of uncertain dynamics and disturbances. We extend PPC to address the challenges posed by underactuation and control input saturation present on the USV. The proposed scheme guarantees stability under user-defined prescribed performance functions where model parameters and exogenous disturbances are unknown. Furthermore, we present an optimization problem to obtain smooth, collision-free trajectories while respecting kinodynamic constraints. We deploy the algorithm on a USV and verify its efficiency in real-world open-water experiments.
{"title":"Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles","authors":"Dženan Lapandić;Christos K. Verginis;Dimos V. Dimarogonas;Bo Wahlberg","doi":"10.1109/TCST.2024.3396027","DOIUrl":"10.1109/TCST.2024.3396027","url":null,"abstract":"We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion planning used to generate trajectories with respect to kinodynamic constraints, and funnel control, also referred to as prescribed performance control (PPC), which enables trajectory tracking in the presence of uncertain dynamics and disturbances. We extend PPC to address the challenges posed by underactuation and control input saturation present on the USV. The proposed scheme guarantees stability under user-defined prescribed performance functions where model parameters and exogenous disturbances are unknown. Furthermore, we present an optimization problem to obtain smooth, collision-free trajectories while respecting kinodynamic constraints. We deploy the algorithm on a USV and verify its efficiency in real-world open-water experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2114-2125"},"PeriodicalIF":4.9,"publicationDate":"2024-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140933035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-08DOI: 10.1109/TCST.2024.3370036
Zhen Wang;Jiandong Wang;Jindong Liu
Detecting condenser abnormalities is essential to ensure the safe and efficient operation of thermal power plants. However, most of the existing methods do not consider relationships among multiple process variables or implement process monitoring in the space of original condenser process variables. This article proposes a safe operation monitoring method for condensers based on normal operating zones (NOZs). NOZs are high-dimensional geometric spaces formed by variation ranges under normal conditions of multiple related variables whose relationships are described by condenser gray-box models. One main challenge is how to analyze the influence of model parameter uncertainties on accuracies of the condenser safe operation monitoring. This challenge is resolved by defining the false alarm rate (FAR) and missed alarm rate (MAR) under NOZ model uncertainties that are organized from multiple sets of model parameters estimated from a large amount of condenser historical data. The NOZ model is formulated by achieving an optimal trade-off between FAR and MAR. Theoretical results for the upper bounds of FAR and MAR of NOZ models caused by parameter uncertainties are developed based on the Bayesian estimation rule. Industrial case studies are provided to demonstrate the effectiveness and practicability of the proposed method.
检测凝汽器异常对确保火力发电厂的安全高效运行至关重要。然而，现有的大多数方法都没有考虑多个过程变量之间的关系，也没有在凝汽器原始过程变量的空间内实施过程监控。本文提出了一种基于正常运行区域（NOZs）的凝汽器安全运行监测方法。正常运行区是由多个相关变量在正常条件下的变化范围形成的高维几何空间，其关系由冷凝器灰盒模型描述。如何分析模型参数的不确定性对冷凝器安全运行监测精度的影响是一个主要挑战。通过定义 NOZ 模型不确定性下的误报率 (FAR) 和漏报率 (MAR)，解决了这一难题。NOZ 模型是通过实现误报率和漏报率之间的最佳权衡来制定的。基于贝叶斯估计规则，得出了参数不确定性导致的 NOZ 模型 FAR 和 MAR 上限的理论结果。还提供了工业案例研究，以证明所提方法的有效性和实用性。
{"title":"Multivariate Process Monitoring for Safe Operation of Condensers in Thermal Power Plants Based on Normal Operating Zones","authors":"Zhen Wang;Jiandong Wang;Jindong Liu","doi":"10.1109/TCST.2024.3370036","DOIUrl":"10.1109/TCST.2024.3370036","url":null,"abstract":"Detecting condenser abnormalities is essential to ensure the safe and efficient operation of thermal power plants. However, most of the existing methods do not consider relationships among multiple process variables or implement process monitoring in the space of original condenser process variables. This article proposes a safe operation monitoring method for condensers based on normal operating zones (NOZs). NOZs are high-dimensional geometric spaces formed by variation ranges under normal conditions of multiple related variables whose relationships are described by condenser gray-box models. One main challenge is how to analyze the influence of model parameter uncertainties on accuracies of the condenser safe operation monitoring. This challenge is resolved by defining the false alarm rate (FAR) and missed alarm rate (MAR) under NOZ model uncertainties that are organized from multiple sets of model parameters estimated from a large amount of condenser historical data. The NOZ model is formulated by achieving an optimal trade-off between FAR and MAR. Theoretical results for the upper bounds of FAR and MAR of NOZ models caused by parameter uncertainties are developed based on the Bayesian estimation rule. Industrial case studies are provided to demonstrate the effectiveness and practicability of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1399-1409"},"PeriodicalIF":4.9,"publicationDate":"2024-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140071983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-03-07DOI: 10.1109/TCST.2024.3395575
T.-J. Yeh;Tzu-Chieh Lin;Alexander Chia-Bin Chen
The purpose of this research is to construct a self-driving bicycle that can balance itself and automatically track a designated trajectory in campus environments. For balancing, a lower level controller is designed based on the dynamic model of the bicycle. It allows the bicycle to achieve lateral stability and cornering action with robustness to speed variations. The design methodology adopts a linear-parameter-varying (LPV) approach by first decomposing the dynamic model into a convex combination of four linear subsystems with time-varying coefficients and then solving a set of linear matrix inequalities (LMIs) to compute the gain matrix for robust state feedback. For trajectory tracking, a high-level controller is designed using similar LPV approach. It allows the bicycle to robustly follow a pregenerated virtual vehicle motion on a given path regardless of the speed and yaw-rate changes of the virtual vehicle along the path. The control system is verified both numerically and experimentally on a prototype bicycle. In particular, the experiment shows that the self-driving bicycle can follow the testing route in campus with rms error less than 18 cm.
{"title":"Robust Balancing and Trajectory Control of a Self-Driving Bicycle","authors":"T.-J. Yeh;Tzu-Chieh Lin;Alexander Chia-Bin Chen","doi":"10.1109/TCST.2024.3395575","DOIUrl":"10.1109/TCST.2024.3395575","url":null,"abstract":"The purpose of this research is to construct a self-driving bicycle that can balance itself and automatically track a designated trajectory in campus environments. For balancing, a lower level controller is designed based on the dynamic model of the bicycle. It allows the bicycle to achieve lateral stability and cornering action with robustness to speed variations. The design methodology adopts a linear-parameter-varying (LPV) approach by first decomposing the dynamic model into a convex combination of four linear subsystems with time-varying coefficients and then solving a set of linear matrix inequalities (LMIs) to compute the gain matrix for robust state feedback. For trajectory tracking, a high-level controller is designed using similar LPV approach. It allows the bicycle to robustly follow a pregenerated virtual vehicle motion on a given path regardless of the speed and yaw-rate changes of the virtual vehicle along the path. The control system is verified both numerically and experimentally on a prototype bicycle. In particular, the experiment shows that the self-driving bicycle can follow the testing route in campus with rms error less than 18 cm.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2410-2417"},"PeriodicalIF":4.9,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140933101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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