Composite nonlinear feedback control for systems with actuator saturation towards improved tracking performance
Composite nonlinear feedback control for systems with actuator saturation towards improved tracking performance
... CNF Control for Continuous-Time Systems with Input Saturation In this chapter, I will present a design procedure of composite nonlinear feedback control for general multivariable systems with actuator ... procedure of composite nonlinear feedback (CNF) control for general multivariable systems with actuator saturation I will consider both the state feedback case and the measurement feedback case without ... satisfactory performance Finally, some concluding remarks will be drawn in Section 2.4 Chapter CNF Control for Continuous-Time Systems with Input Saturation 2.2 15 Composite Nonlinear Feedback Control for...
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On the adaptive and learning control design for systems with repetitiveness
... analysis and design of two learning- type control strategies: adaptive control (AC) and iterative learning control (ILC), for dynamic systems with repetitiveness In the first part of the thesis, ... 1.1 The contribution of the thesis AC: adaptive control, ILC: iterative learning control, ILT: iterative learning tuning, PAC: periodic adaptive control, SPAC: spatial periodic adaptive control, ... modifying the parameters of the controller or the control signal The above definition can be extended straightforwardly for adaptive systems in general A conventional feedback control system will monitor...
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Feedback Control for a Path Following Robotic CarPatricia Mellodge doc
... The lab itself is located in a 1600 square foot trailer at VTTI It contains a scale roadway and several 1/10 scale cars Each car is capable of operating manually or autonomously The cars are described ... other cars, pedestrians, animals, etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid hitting obstacles in the roadway; and lateral control to maintain the car’s ... Infrared and magnetic sensors for lateral control • Image processing for lateral and longitudinal control • Ultrasound for adaptive cruise control and obstacle detection • In-vehicle navigation and...
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Feedback Control for a Path Following Robotic Car potx
... The lab itself is located in a 1600 square foot trailer at VTTI It contains a scale roadway and several 1/10 scale cars Each car is capable of operating manually or autonomously The cars are described ... other cars, pedestrians, animals, etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid hitting obstacles in the roadway; and lateral control to maintain the car s ... initialization involves creating the car and path for animation and placing the car on the path Next, the car s position on the path is determined and the values needed by the controller are calculated...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 1 pptx
... 10 Mathematical Modeling and Control Algorithm 3 .1 11 Mathematical Modeling 11 3 .1. 1 Nonholonomic Contraints 11 3 .1. 2 Global Coordinate ... 74 E .1 FLASH vehicle prototype number 11 5 E.2 FLASH vehicle prototype number 11 5 E.3 The FLASH lab 11 6 E.4 Another ... 15 3.2.3 Input-Scaling Controller 16 Curvature Estimation 4 .1 17 Estimation Based on the Steering Angle φ 19 4 .1. 2 Estimation Based...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 2 ppsx
... development 2. 1 2. 1.1 Purpose Scale Model Testing The FLASH laboratory was created at VTTI as one stage in the four-stage development of automated highway systems Each of the stages is shown in Fig 2. 1 ... major reasons is safety In 20 00, there were approximately 6,394,000 police reported motor vehicle traffic crashes, resulting in 3,189,000 people being injured and 41, 821 lives lost [1] Accidents ... is capable of operating manually or autonomously The cars are described in detail in Chapter 2. 1 .2 Eduational Exhibit Currently, an educational exhibit is being developed to educate the public...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 3 docx
... dc(s)) + sin2 θp (1 − dc(s))2 tanφ + cos2 θp lcos3 θp x3 = (1 − dc(s))tanθp x4 = d 16 (3. 14) (3. 15) (3. 16) where the variables are defined in Fig 3. 3, c(s) is the path’s curvature, and c (s) denotes ... ˙ y˙1 = y + lθcosθ ˙ (3. 5) (3. 6) Applying the no-slippage constraint to the front wheels gives x1 sin(θ + φ) = y˙1 cos(θ + φ) ˙ (3. 7) ˙ Inserting (3. 5) and (3. 6) into (3. 7) and solving for θ ... , y1 ) is given by x1 = x + lcosθ y1 = y + lsinθ (3. 3) (3. 4) Patricia Mellodge Chapter Mathematical Modeling and Control Algorithm 13 Figure 3. 2: The global coordinate system for the car and...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 4 docx
... = f 24 (4. 19) (4. 20) Now given a point (x , y ) in the image plane, (4. 19) and (4. 20) can be solved for x and z Using (4. 20), z can be found as z = −d(f cosα + y sinα) y cosα − f sinα (4. 21) ... ycosα + zsinα zc = −ysinα + zcosα (4. 14) (4. 15) (4. 16) However, y is fixed at −d The coordinates in the image plane are then given by: x y xc zc yc = f zc = f (4. 17) (4. 18) where f is the focal length ... Figure 4. 6: The result of the Sobel operator applied to the middle row of Fig 4. 4 Coordinate Transformations The relationship between the car’s frame of reference and the camera’s is shown in Fig 4. 3...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 5 ppt
... follows x1 = x0 + lcosθ y1 = y0 + lsinθ (5. 2) (5. 3) Knowing two points along the center axis of the vehicle, (x0 , y0 ) and (x1 , y1 ), the slope of y LINE in Fig 5. 2 can be found as x1 −y0 Since LINE ... + y1 (5. 4) where m = x1 −x0 y1 −y0 Next, the point (x2 , y2 ) must be determined by finding the intercept of LINE and the path Setting the right side of (5. 1) equal to the right side of (5. 4) ... of the simulation is reached The next section gives the details of how each step is performed 5. 2 5. 2.1 The Simulation Program Path Creation As stated in the previous chapter, there are several...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 6 pdf
... there were twelve sensors spaced 0.2 inches apart The same gains and initial conditions were used Patricia Mellodge Chapter Simulation Environment 46 Figure 5.5: The control inputs, v1 and v2 ... inputs are constant over the sampling time, as they are on the actual car Patricia Mellodge 5.2 .6 Chapter Simulation Environment 44 Animation Finally, the movement is animated to provide a means ... the path the car is traveling Therefore, the curvature can be determined to be ± R or Figs 5.4-5 .6 show the results of applying this controller The car’s path speed, u1 , was held constant at 1.5...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 7 pptx
... sensor Hall effect sensor CMOS image sensor Ultrasonic scanner kit Model QRD1114 HAL506UA-E OV7610 3 -70 5 Manufacturer Fairchild Semiconductor Micronas OmniVision Mondo-tronics determine when the ... signals that directly control the steering servo and motor 6.2.1 PIC16F 874 Microcontroller The microcontroller chosen was the PIC16F 874 from Microchip A microcontroller was chosen because it is ideal ... car kit Standard servo Paradox rebuildable electric motor Super Rooster electronic speed control 7. 2V NiMH battery 53 Manufacturer Bolink Futaba Trinity Novak Radio Shack Patricia Mellodge Chapter...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 8 docx
... following C subroutine for handling /* Serial port receive ISR */ void c_int06() { asm(" LDI @80 804Ch,R7"); asm(" STI R7,@_dist"); dist = dist & 0xFFFC; dist = dist>>2; return; } Reseting of ... sensor Table 6 .8: Technical information for the Hall effect sensors Device name Manufacturer Operating voltage Supply current Switching type Bon Boff Package size HAL506UA-E Micronas 3 .8 V - 24 V mA ... at a time Because address bits are being used, it is possible to select different devices (23 = 8) Once the appropriate data is on the data bus, the program must read it into a variable for use...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 9 pptx
... Scanner Kit #3-705 Mondo-tronics V - 12 V Polaroid transducer 40 kHz RS232 @ 96 00 baud 0V-5V 150 mm - 2.6 m 10 mm 90 mm x 55 mm 1.513” diameter by the controller described in this thesis, a brief ... provides the images of the roadway ahead of the car The camera’s specifications are given in Table 6 .9 At the time of this writing, the camera has not been incorporated into the FLASH vehicle The C31 ... Patricia Mellodge Chapter Hardware Implementation 71 Table 6 .9: Technical information for the digital camera Device name Manufacturer Operating voltage Operating...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 10 pps
... the Fatality Analysis Reporting System and the General Estimates System,” DOT HS 809 337, U.S Department of Transportation, National Highway Traffic Safety Administration, National Center for Statistics ... from the Fall 2000 National Occupant Protection Use Survey,” Research Note, DOT HS 809 293, U.S Department of Transportation, National Highway Traffic Safety Administration, July 2001 [4] S Mizutani, ... vol 4, no 3, pp 145-178, 1997 [9] J Laumond, Robot Motion Planning and Control, Springer, 1998 [10] C Samson, ”Control of chained systems Application to path following and time-varying point-stabilization...
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