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- 저자 : Ma Fangwu (검색결과 3 건)
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Tensor Product Based Polytopic LPV System Design of a 6-DoF Multi-strut Platform
Fangwu Ma,Jinhang Li,Liang Wu,Daofa Yuan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
Multi-strut platform is widely used for precise instrument vibration isolation. In this paper, a NewtonEuler based 6-DOF 12-strut platform model is proposed. Nonlinearity of platform dynamic component is derived by establishing polytopic linear parameter varying (LPV) system. To guarantee the linearization accuracy of LPV system while reducing model elements to a real-time computing level. Tensor product(TP) model transformation and truncated high-order singular value decomposition(HOSVD) are used to decompose LPV system high-order tensor into unique principle basis. Then low-rank approximation of system is implemented by discarding minor singular basis vectors, for the sake of minimizing storage space and computing complexity. And then the parameter varying system is represented by convex combination of discretized system vertexes. So quadratic regulator method can be applied to vertex linear time-invariant subsystem controller to construct the global controller. Performance of the proposed multi-strut platform is demonstrated through hardware in loop simulation.
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Wang Jiawei,Ma Fangwu,Yu Yang,Zhu Sheng,Gelbal Sukru Yaren,Aksun-Guvenc Bilin,Guvenc Levent 한국자동차공학회 2021 International journal of automotive technology Vol.22 No.3
This research presents a multi-vehicle control strategy combining the merging control and platoon control to deal with the merging scenario in the freeway ramp entrance. In the merging controller, a selection algorithm is presented firstly to determine the merging sequence based on the initial states of the vehicles in the cooperative area. Subsequently, the optimized longitudinal trajectory of the facilitating vehicle and on-ramp vehicle is addressed by solving the Hamiltonian function. As for the platoon controller, string stability is analyzed to attenuate the impact of merging on the mainline traffic, considering the influence of communication time delay. Smooth mode switching is achieved by introducing the tracking policy of platoon controller to determine the terminal states of the facilitating vehicle. The proposed strategy is simulated at two typical merging scenarios, where two on-ramp vehicles attempt to cut into a six-vehicular platoon, to validate its feasibility and advantage.
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Linhe Ge,Yang Zhao,Shouren Zhong,Zitong Shan,Fangwu Ma,Zhiwu Han,Konghui Guo 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
The steady-state error problem of autonomous vehicle MPC-based motion control has not been effectively solved for a long time. This problem is more serious for lateral and longitudinal coupling control problems of vehicles with over-actuated configurations. Based on our newly designed general offset-free MPC (OF-MPC) solver and the TMeasy tire model, a steady-state error free control strategy for simultaneous stability and path following control of four-wheel steering and four-wheel drive vehicles is proposed. OF-MPC uses the disturbances term to describe the model mismatch and external disturbances, then uses the Kalman filter to observe the disturbances, and finally considers the disturbances in the optimization stage to realize the control without steady-state error. Realtime simulation results show that OF-MPC can solve model mismatch and external disturbances problems, and the steady-state error free control is realized. The simulation results of the double lane change maneuver show that the OF-MPC dynamic control performance is also better than the traditional MPC (TRA-MPC), which is more obvious when the vehicle is at the stability boundary and under various constant or time-varying disturbances. Regardless of the dimensions and complex constraints of this problem, real-time performance is still guaranteed, thanks to the proposed OF-MPC. When the horizon length is 100, the average time consumption is only about 15 milliseconds.
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