This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
C/C composites with banded structure pyrocarbon were fabricated by fast chemical vapor infiltration（CVI）,with C3H6 as carbon source,N2 as carrier gas,and three-dimensional（3D） 12K PAN-based carbon fabric with high...C/C composites with banded structure pyrocarbon were fabricated by fast chemical vapor infiltration（CVI）,with C3H6 as carbon source,N2 as carrier gas,and three-dimensional（3D） 12K PAN-based carbon fabric with high density of 0.94 g/cm3 as preform.Experimental results indicated that the fracture characteristics of C/C composites were closely related to the frequency of high-temperature treatment（HTT） at the break of CVI process.According to the load？displacement curves,C/C composites showed a pseudoplastic fracture after twice of HTT.After three times of HTT,load？displacement curves tended to be stable with a decreasing bending strength at 177.5 MPa.Delamination failure and intrastratal fiber fracture were observed at the cross-section of C/C composites by scanning electronic microscope.Because the content of pyrocarbon and fibers has a different distribution in layers,the C/C composites show different fracture characteristics at various regions,which leads to good toughness and bending strength.展开更多
This anticle gives a design method of the economical nonlinear controller. The controller is composed of an expert intelligent coordination controller, a fuzzy prediction controller, a fuzzy feedforward controller, a ...This anticle gives a design method of the economical nonlinear controller. The controller is composed of an expert intelligent coordination controller, a fuzzy prediction controller, a fuzzy feedforward controller, a nonlinear controller and so on. The consistence of a distributed control system based on this controller is also shown briefly.展开更多
A kind of predictive control based on the neural network(NN) for nonlinear systems with time delay is addressed.The off line NN model is obtained by using hierarchical genetic algorithms (HGA) to train a sequence da...A kind of predictive control based on the neural network(NN) for nonlinear systems with time delay is addressed.The off line NN model is obtained by using hierarchical genetic algorithms (HGA) to train a sequence data of input and output.Output predictions are obtained by recursively mapping the NN model.The error rectification term is introduced into a performance function that is directly optimized while on line control so that it overcomes influences of the mismatched model and disturbances,etc.Simulations show the system has good dynamic responses and robustness.展开更多
To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch c...To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch channel of a missile is designed by using this algorithm. The simulations verify that the designed controller can meet the demands of the task well.展开更多
A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the contro...A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the control performance was good according to the user’s selection. Principal component model was built and an auto- regressive moving average filter was identified to monitor the performance; an improved T2 statistic was selected as the performance monitor index. When performance changes were detected, diagnosis was done by model validation using recursive analysis and generalized likelihood ratio (GLR) method. This distinguished the fact that the per- formance change was due to plant model mismatch or due to disturbance term. Simulation was done about a heavy oil fractionator system and good results were obtained. The diagnosis result was helpful for the operator to improve the system performance.展开更多
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
基金Project (50802115) supported by the National Natural Science Foundation of ChinaProject (2011CB605801) supported by the National Basic Research Program of China
文摘C/C composites with banded structure pyrocarbon were fabricated by fast chemical vapor infiltration（CVI）,with C3H6 as carbon source,N2 as carrier gas,and three-dimensional（3D） 12K PAN-based carbon fabric with high density of 0.94 g/cm3 as preform.Experimental results indicated that the fracture characteristics of C/C composites were closely related to the frequency of high-temperature treatment（HTT） at the break of CVI process.According to the load？displacement curves,C/C composites showed a pseudoplastic fracture after twice of HTT.After three times of HTT,load？displacement curves tended to be stable with a decreasing bending strength at 177.5 MPa.Delamination failure and intrastratal fiber fracture were observed at the cross-section of C/C composites by scanning electronic microscope.Because the content of pyrocarbon and fibers has a different distribution in layers,the C/C composites show different fracture characteristics at various regions,which leads to good toughness and bending strength.
文摘This anticle gives a design method of the economical nonlinear controller. The controller is composed of an expert intelligent coordination controller, a fuzzy prediction controller, a fuzzy feedforward controller, a nonlinear controller and so on. The consistence of a distributed control system based on this controller is also shown briefly.
文摘A kind of predictive control based on the neural network(NN) for nonlinear systems with time delay is addressed.The off line NN model is obtained by using hierarchical genetic algorithms (HGA) to train a sequence data of input and output.Output predictions are obtained by recursively mapping the NN model.The error rectification term is introduced into a performance function that is directly optimized while on line control so that it overcomes influences of the mismatched model and disturbances,etc.Simulations show the system has good dynamic responses and robustness.
文摘To study the application of the generalized predictive adaptive control algorithm in missile control system, the algorithm is presented based on the recursive least square estimation, and a controller of the pitch channel of a missile is designed by using this algorithm. The simulations verify that the designed controller can meet the demands of the task well.
基金Supported by the National Natural Science Foundation of China (Nos.60474051, 60534020), the Key Technology and Devel-opment Program of Shanghai Science and Technology Department (No.04DZ11008), and the Program for New Century Ex-cellent Talents in the University of China (NCET).
文摘A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the control performance was good according to the user’s selection. Principal component model was built and an auto- regressive moving average filter was identified to monitor the performance; an improved T2 statistic was selected as the performance monitor index. When performance changes were detected, diagnosis was done by model validation using recursive analysis and generalized likelihood ratio (GLR) method. This distinguished the fact that the per- formance change was due to plant model mismatch or due to disturbance term. Simulation was done about a heavy oil fractionator system and good results were obtained. The diagnosis result was helpful for the operator to improve the system performance.
