Article

Article title POSITION-PATH CONTROL OF VEHICLES WITH MULTIPLE LOOP ADAPTATION
Authors M.Yu. Medvedev, V.A. Rogov, T.N. Medvedeva
Section SECTION III. METHODS OF ADAPTATION AND NEURAL NETWORK ALGORITHMS
Month, Year 07, 2016 @en
Index UDC
DOI DOI 10.18522/2311-3103-2016-7-101114
Abstract A multiple loop adaptive position-path control system is suggested. The system is astatic one. In addition adaptive parameters tuning is provided. In the article the problem of a vehicle positioning at the given point is considered. In the first loop the base control is calculated. The base control provides the closed-loop system astatic properties. In the second loop adaptation of the control system parameters is performed. The adaptation algorithm is based on the model reference adaptive control. A new algorithm of adaptation is proposed. The adaptation algorithm maintains a given ratio between the roots of the control system characteristic equation. The first loop allows compensate for external disturbances. The second loop allows adapt for parametrical disturbances. In the third loop parameters of the reference model are tuned. Parameters of reference model are changed if control reaches the given limits. In other words the system requirements are changed if control reaches the given limits. In the article the closed-loop system equilibrium stability is investigated. The function of Lyapunov is constructed for the nonlinear closed-loop system. The supposed control algorithms are applied in the control system of a vehicle described by solid body kinematics and dynamics equations. Dynamics equations consist of friction forces, gravitation force, and control force. Disturbances are presents as linear time functions. Simulation results confirm correctness of the theoretical derivations. The proposed algorithms can be applied for path control of vehicles.

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Keywords Position-path control; vehicle; adaptive control; reference model; function of Lyapunov; multiple loop adaptation.
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