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T-S Fuzzy Tube Model Prediction Trajectory Tracking Control of Automatic Truck With Network Delay and Variable Load
Senhao Zhang;Chunyan Wang;Wanzhong Zhao;Weihe Liang;Min Wang;Zhongkai Luan;Kunhao Xu;Yufu Liang
The trajectory tracking performance is the foundation for self-driving trucks. To address the effects of communication delay and load variation on the trajectory tracking accuracy of automatic trucks, this article proposes a T-S fuzzy tube model prediction trajectory tracking control strategy. It includes the T-S fuzzy extended observer and the adaptive tube model prediction control. The T-S fuzzy...Show More
Event-Triggered Adaptive Fuzzy Switching Fault-Tolerant Control of Dual-Motor Steer-by-Wire System Considering Load Fluctuation and Limited Communication Bandwidth
Kunhao Xu;Chunyan Wang;Wanzhong Zhao;Zhongkai Luan;Weihe Liang;Senhao Zhang;Ziyu Zhang
In order to promote the safety redundancy of steer-by-wire system, a dual-motor steer-by-wire (DMSBW) system is designed in this article. However, when one of the steering motors fails seriously, the vehicle's angle tracking performance is affected, which is exacerbated by load fluctuation and limited CAN communication bandwidth in the control system. Therefore, we innovatively establish DMSBW swi...Show More
Variable Tube-Based Model Predictive Trajectory Tracking Control Strategy with Adaptive Load for Automatic Truck
Senhao Zhang;Wanzhong Zhao;Chunyan Wang;Weihe Liang;Kunhao Xu;Zhongkai Luan
IEEE Transactions on Intelligent Vehicles
Year: 2024 | Early Access Article |
High-precision trajectory tracking is the basis for achieving safe driving of automatic trucks. However, variable loads can cause changes in vehicle parameters, leading to a severe decline in the tracking accuracy of autonomous trucks. To address this problem, we propose a variable Tube-based model predictive trajectory tracking control strategy with strong robustness to load changes. The variable...Show More
Performance-Guaranteed Adaptive Switching Fault-Tolerant Control of Steer-by-Wire System Considering Actuator Fault and Load Disturbance
Kunhao Xu;Xiaochuan Zhou;Wanzhong Zhao;Chunyan Wang;Zhongkai Luan;Weihe Liang;Senhao Zhang;Jinqiang Liu
In order to meet the requirement of a higher safety level for the steer-by-wire (SBW) system, this article proposes a dual-motor SBW (DMSBW) system to realize its safety redundancy function. Aiming at the problem of vehicle tracking performance degradation when the steering motors of the DMSBW system have serious failures, a performance-guaranteed adaptive switching fault-tolerant control (FTC) st...Show More
Load Clustering for Power System Combined With Dimensionality Reduction Method
2021 China Automation Congress (CAC)
Year: 2021 | Conference Paper |
With the development of the electric power industry, the accumulated data on electricity is gradually showing a massive trend. To effectively classify the massive load data, a power load clustering method combined with a dimensionality reduction method is proposed in this paper for classifying the daily load curve sets. The principal component analysis method is first used to realize the dimension...Show More
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