NDLI: Control of a ground vehicle using quadratic programming based control allocation techniques

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Volume 6 - 2004

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Table of contents

Piecewise quadratic Lyapunov functions for piecewise affine time-delay systems

Quadratic stabilization of a switched affine system about a nonequilibrium point

Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications

Model-based control for semiconductor and advanced materials processing: an overview

Model-based control of rapid thermal processing for semiconductor wafers

Model-based control for chemical-mechanical planarization (CMP)

Multiscale modeling and control of RF diode sputter deposition for GMR thin films

A linear programming approach to the synthesis of fixed structure controllers

Washout filters in feedback control: benefits, limitations and extensions

A /spl mu/-analysis application to stability of optical networks

Finite frequency property-based robust control analysis and synthesis

Nonstationary robust control for time-varying system

Robust H/sub /spl infin// filtering for LPV discrete-time state-delayed systems

Adaptive synchronization control of a planar parallel manipulator

Control system for the automatic handling of biological cells with mobile microrobots

Swing-up control of a serial double inverted pendulum

A trajectory tracking of legged robot using decentralized control with robustness designs

Sagittal gait synthesis for a five-link biped robot

A robust controller for an electro-mechanical fin actuator

Memory-based on-line tuning of PID controllers for nonlinear systems

A noncausal approach for the improvement of PID control performances

Fuzzy proportional integral - proportional derivative (PI-PD) controller

Stability analysis and tuning strategies for a novel next generation regulatory controller

A PID based MIMO control system of the CMS tracker thermal screen

Nonlinear PI/PID controllers for a high-order reactor system

Control of homogeneous charge compression ignition (HCCI) engine dynamics

Optimization and scheduling for automotive powertrains

Estimating the oxygen storage level of a three-way automotive catalyst

Adaptive critic learning techniques for automotive engine control

Energy management strategies for vehicle power nets

Simulation and control of an automotive dry clutch

Attitude determination and orbital estimation using Earth position and magnetic field vector measurements

Estimation of aperture errors with direct interferometer-output feedback for spacecraft formation control

Tracking of multiple maneuvering targets using multiscan JPDA and IMM filtering

A method for dealing with assignment ambiguity

Underwater vehicle trajectory estimation using contracting PDE-based observers

Output feedback control using high-gain observers in the presence of measurement noise

Reduced-order H/sub /spl infin// filtering for discrete-time, linear, time-varying systems

Real and complex stabilization: stability and performance

Synthesis of controllers for non-minimum phase and unstable systems using non-sequential MIMO quantitative feedback theory

A Lyapunov approach to frequency analysis

Minimal positive realizations of a class of third-order systems

Analysis of nonlinear time-delay systems using the sum of squares decomposition

Robust stability of quasipolynomials: vertex-type tests and extensions

Fixed-lag smoothing as a constrained version of the fixed-interval case

New sufficient conditions for stability analysis of time delay systems using dissipativity theory

A mixed IQC approach to nonlinear delay-dependent system analysis

A new delay-dependent stability condition and H/sub /spl infin// control for jump time-delay systems

Identification and tracking of structural parameters with unknown excitations

A new methodology for nondestructive evaluation and rating of bridges

LMS-based structural health monitoring methods for the ASCE benchmark problem

Damage localization for offshore structures by modal strain energy decomposition method

Implementation of a SHM method on a numerical model of a cable-stayed bridge

A wavelet packet based sifting process and its application for structural health monitoring

Reduced order control in microchemical systems

Control of a granulation process using a nonlinear MPC formulation

Reduced order modeling of high purity distillation columns for nonlinear model predictive control

Control systems analysis of a multiscale simulation code for copper electrodeposition

Control relevant identification for third-order Volterra systems: a polymerization case study

Computation of the nonlinear Nyquist robust stability margin for structured uncertainties

A decentralized algorithm for robust constrained model predictive control

Decentralized output feedback control of large-scale nonlinear systems interconnected by unmeasurable states

An optimization algorithm for decentralized digital control of continuous-time systems which accounts for inter-sample ripple

Coordinated decentralized adaptive output feedback control of interconnected systems

Decentralized robust model reference adaptive control for interconnected time-delay systems

Decentralized disturbance attenuation for large-scale nonlinear systems with delayed state interconnections

On the stability of the Kuramoto model of coupled nonlinear oscillators

Recursive backstepping control of chaotic Duffing oscillators

Model predictive path tracking via middleware for networked mobile robot over IP network

Gain scheduling middleware for networked mobile robot control

Secure communication using H/sub /spl infin// chaotic synchronization and international data encryption algorithm

LQR-output feedback gain scheduling of mobile networked controlled systems

Control of a laboratory helicopter using switched 2-step feedback linearization

Super-heater control based on feedback linearization

Suppression of effects of nonlinearities by disturbance observers

Feedforward systems linearizable by coordinate change

Global adaptive control of feedforward systems using dynamic high gain scaling

Integrator forwarding control laws for some classes of linearizable feedforward systems

Human thermal model with extremities for asymmetric environments

A semiempirical identification method by using a multiestimation technique via reduced-order nominal models

Identificability of multi-leaks in a pipeline

Inequality-based estimates of systems reliability

Maximum likelihood estimation on mismatch for stochastic nearly optimal control

High gain observer: attenuation of the peak phenomena

Fault diagnosis in a class of differential-algebraic systems

Improved diagnosis of sensor faults using multivariate statistics

Analysis of the /spl Delta/AIC statistic for optimal detection of small changes in dynamic systems

Software for auxiliary signal design

Partial PCA-based optimal structured residual design for fault isolation

Operational reconfigurability in command and control

Impact control in hydraulic actuators with friction: theory and experiments

Programmable valves: a solution to bypass deadband problem of electro-hydraulic systems

Nonlinear averaging applied to the control of pulse width modulated (PWM) pneumatic systems

Optimal and robust design of unstable valve

Earthmoving vehicle powertrain controller design and evaluation

Sliding mode control of a direct-injection monopropellant-powered actuator

Structured design of reconfigurable logic control functions through sequential functional charts

Control using nondeterministic supervisors for partially observed discrete event systems

Resilience to failures and reconfigurations in the supervision based on place invariants

Decentralized control of discrete event systems using prioritized composition with exclusion

Control of nondeterministic discrete event systems for bisimulation equivalence

Supervisor synthesis for bounded Petri nets based on a transformation function

Fitting controllers to data: the MIMO case

Neural network adaptive dynamic output feedback control for nonlinear nonnegative systems using tapped delay memory units

Autonomous creation of process cause and effect relationships: metrics for evaluation of the goodness of linguistic rules

Reinforcement learning with supervision by a stable controller

Adaptive controller design and disturbance attenuation for SISO linear systems with noisy output measurements and partly measured disturbances

Accuracy aspects of iterative correlation-based controller tuning

Stabilization of switched symmetric systems

Practical stabilizability of a class of switched systems

Robust H/sub /spl infin//control and quadratic stabilization of uncertain switched linear systems

Global stability analysis of DC-DC converters using sampled-data modeling

Stability analysis for switched systems with continuous-time and discrete-time subsystems

Necessary and sufficient conditions for stability of a class of second order switched systems

Control-oriented approaches to supply chain management in semiconductor manufacturing

A model predictive control strategy for supply chain management in semiconductor manufacturing under uncertainty

Modeling, validation and control of manufacturing systems

Continuous models for production flows

Singular LQ suboptimal control problem with disturbance rejection for descriptor systems

Optimal decoupling for MIMO-controller design with robust performance

Constrained MPC under closed-loop uncertainty

Robust control synthesis with general frequency domain specifications: static gain feedback case

Multiobjective optimization applied to robust /spl Hscr//sub 2///spl Hscr//sub /spl infin// state-feedback control synthesis

Design of a novel simply structured mixed-sensitivity loop-shaping robust controller for a gas-turbine

Nonlinear sliding mode control and feasible workspace analysis for a cable suspended robot with input constraints and disturbances

Trajectory planning and feedforward design for high performance motion systems

Robot path planning for spray coating: a frequency domain approach

Variable parameter EW-RLS algorithm with dead zone for the trajectory tracking of the joints of the manipulator

Nonholonomic motion planning: steering using bang-bang control

Reference shaping of periodic trajectory for systems having constraints

Constrained nonlinear tracking control for small fixed-wing unmanned air vehicles

Properties of a new parameterization for the control of constrained systems with disturbances

Augmenting adaptive output feedback control of uncertain nonlinear systems with actuator nonlinearities

A globally stabilising controller under saturated input for linear planar systems with one unstable pole

Phase compensation design for prevention of PIO due to actuator rate saturation

Gain tuned internal model control for handling saturation in actuators

Managing complexity in large-scale control system design

Control of a ground vehicle using quadratic programming based control allocation techniques

A stochastic control strategy for hybrid electric vehicles

Power distribution control coordinating ultracapacitors and batteries for electric vehicles

Heavy-duty truck control: short inter-vehicle distance following

Human simulating control algorithm on vehicle lateral tracking

Tutorial on multisensor management and fusion algorithms for target tracking

Practical implementation issues of out-of-sequence measurements

Multiple hypotheses tracking based distributed fusion using decorrelated pseudo measurement sequence

Closing the loop in sensor fusion systems: stochastic dynamic programming approaches

Extended recursive least squares algorithm for nonlinear stochastic systems

Recursive identification of systems with hard input nonlinearities of known structure

Gradient algorithm for structural parameter estimation and nonlinear restoring forces

Identification of rate-dependent hysteresis using the semilinear Duhem model

A direct approach to identify closed loop Wiener systems, whose linear dynamics are open-loop unstable

Basis-function optimization for subspace-based nonlinear identification of systems with measured-input nonlinearities

H/sub /spl infin// control with preview and delay

Stability analysis and H/sub /spl infin// synthesis for linear systems with time-varying delays

Design of observers for descriptor systems with delayed state and unknown inputs

Optimal guaranteed cost control of singular systems with delayed state and parameter uncertainties

Stabilization of input delayed systems via memoryless state feedback

Using anti-windup loops for enlarging the stability region of time-delay systems subject to input saturation

Jerk limited input shapers

Minimum-time/energy output-transitions in linear systems

Wave-echo position control of flexible systems: towards an explanation and theory

Jerk derivative feedforward control for motion systems

Time-optimal motion control of piezoelectric actuator: STM application

Index of authors

Volume 4 - 2004

Volume 3 - 2004

Volume 2 - 2004

Volume 1 - 2004

Proceedings of the 2003 American Control Conference, 2003.

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)

Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148)

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)

Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)

Proceedings of 1995 American Control Conference - ACC'95

Proceedings of 1994 American Control Conference - ACC '94

1993 American Control Conference

1992 American Control Conference

1991 American Control Conference

1990 American Control Conference

1989 American Control Conference

1988 American Control Conference

1987 American Control Conference

1986 American Control Conference

1985 American Control Conference

1984 American Control Conference

1983 American Control Conference

1982 American Control Conference

Control of a ground vehicle using quadratic programming based control allocation techniques

Content Provider	IEEE Xplore Digital Library
Author	Plumlee, J.H. Bevly, D.M. Hodel, A.S.
Copyright Year	2004
Description	Author affiliation: Dept. of Mech. Eng., Auburn Univ., AL, USA (Plumlee, J.H.; Bevly, D.M.)
Abstract	This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.
Sponsorship	American Automatic Control Council IFAC
Starting Page	4704
Ending Page	4709
File Size	434186
Page Count	6
File Format	PDF
ISBN	0780383354
ISSN	07431619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Land vehicles Quadratic programming Optimal control Aerospace safety Vehicle safety Mechanical engineering Trajectory Road vehicles Regulators Torque control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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