Flutter Characteristics ofAircraft Wing Considering Control Surface and Actuator Dynamics with Friction Nonlinearity

Model Predictive Control for Autonomous Driving considering Actuator Dynamics

In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our formulation stems from the following new results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular accelerations are alternately optimized. We show that in contrast to the joint formulation, the alternating minimization better exploits...

Exponential Tracking Control of Nonlinear Systems with Actuator Nonlinearity ?

In this paper, the problem of adaptive tracking control is addressed for a class of nonlinear systems with parametric uncertainty, unknown actuator nonlinearity and disturbance. Two type of actuator nonlinearities, that is, backlash-like hysteresis and symmetric deadzone, are considered simultaneously. Without constructing the inverse function of actuator nonlinearity, unified control framework...

Adaptive Backstepping Control of Systems with Uncertain Nonsmooth Actuator Nonlinearity

In this paper, we present a new scheme to design adaptive controllers for uncertain systems containing nonsmooth nonlinearities in the actuator device. The control design is achieved by introducing certain well defined sign functions and Neural Networks approximations and by using the backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unk...

Control-Surface Flutter with the Stick Free

Control of the Electro-pneumatic VGT Actuator with Friction Compensators

This paper describes friction compensation based control of an industrial pneumatic actuator used for the variable geometry turbocharger (VGT). Adaptive LuGre model for friction has been used in this work. Friction force that is responsible for hysteresis and hunting phenomenon in the position control is compensated with two different control strategies designed to improve low velocity position...