3 research outputs found
Safety-Critical Adaptive Control with Nonlinear Reference Model Systems
In this paper, a model reference adaptive control architecture is proposed
for uncertain nonlinear systems to achieve prescribed performance guarantees.
Specifically, a general nonlinear reference model system is considered that
captures an ideal and safe system behavior. An adaptive control architecture is
then proposed to suppress the effects of system uncertainties without any prior
knowledge of their magnitude and rate upper bounds. More importantly, the
proposed control architecture enforces the system state trajectories to evolve
within a user-specified prescribed distance from the reference system
trajectories, satisfying the safety constraints. This eliminates the ad-hoc
tuning process for the adaptation rate that is conventionally required in model
reference adaptive control to ensure safety. The efficacy of the proposed
control architecture is also demonstrated through an illustrative numerical
example.Comment: IEEE American Control Conference (ACC), Denver, Colorado, July 202
A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement
Yaw stability control systemplays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface
based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control