Robust Adaptive Backstepping Control of Automated Vehicle Convoys in the Presence of Combined Actuator Fault, Parameter Uncertainties, and External Disturbance by Considering Speed Constraints
Journal Title: Aerospace Mechanics - Year 2023, Vol 19, Issue 4
Abstract
This paper deals with the robust-adaptive backstepping control of heterogeneous self-driving vehicle groups in the presence of actuator fault, model uncertainty, and external disturbance concerning group speed constraints. The actuator fault is a combination of descending control law and the actuator disturbance. A third-order dynamical model is utilized to describe the longitudinal motion of each vehicle in which the engine time constant is unknown and the external disturbance is considered. The communication structure is assumed to be bi-directional leader-following. The control design is performed in three levels: speed level, acceleration level, and the final level. At the first level, the error is defined as the difference between the actual position and the desired position of each following vehicle. After that, by employing the Lyapunov theorem, a virtual control law is introduced to make the tracking error bounded. In the second and third levels, the error respectively is defined as the difference between speed and acceleration and the virtual control law of the previous level. Finally, a Lyapunov function involving the state errors of all levels and the estimation errors of the third level is defined and an adaptive control is introduced such that the tracking error and the estimation errors will be bounded. Numerical results are provided to show the merits of this method.
Authors and Affiliations
Hossein Chehardoli,
Keywords
Related Articles
- EP ID EP731056
- DOI -
- Views 60
- Downloads 0
Thermodynamic Simulation of Fouling and Erosion in an Industrial Gas Turbine for Power Generation Applications
In this research, the performance deterioration caused by the degradation of the main gas path components is simulated for the IGT25 industrial gas turbine. To this aim, after developing a thermodynamic model of IGT25 an...
Robust Control Based on Suboptimal Estimator for Highly Nonlinear Robotic Arms Influenced Model Uncertainties and Environmental Disturbance
One of the main challenges of using robotic arms in various industrial applications such as: production and assembly line, medical and surgical centers, space industries and military instruments is the lack of accurate m...
Robust Adaptive Backstepping Control of Automated Vehicle Convoys in the Presence of Combined Actuator Fault, Parameter Uncertainties, and External Disturbance by Considering Speed Constraints
This paper deals with the robust-adaptive backstepping control of heterogeneous self-driving vehicle groups in the presence of actuator fault, model uncertainty, and external disturbance concerning group speed constraint...
Analysis and Comparison of Linear, Feedback Linearized and Backstepping Controllers Based on Quaternion in Spacecraft Attitude Control
In this paper, the attitude control design and analysis of a spacecraft as a rigid body based on three controllers of linear, nonlinear based on feedback linearization and backstepping is presented. According to the glob...
A Molecular Dynamics Study on the Buckling Analysis of Functionalized Graphene with Nylon 6,6 in Aqueous Environment
In this research, the buckling behavior of covalently functionalized graphene with nylon 6,6 in vacuum and aqueous environments is investigated employing the molecular dynamics (MD) simulations. The critical buckling for...