Bang-bang control for type-2 systems

Bang-bang control for type-2 systems

A sampled-data, bang-bang control algorithm developed for a double integrator plant is extended to higher-order plants with two integrators. In the case where nonintegrator dynamics are considered unmodeled, the robustness of the control algorithm is analyzed. In the case where nonintegrator dynamic...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: O'Brien, R.T.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Algorithm design and analysis
Bang-bang control
Control systems
Land vehicles
Open loop systems
Position control
Robust control
Shape control
Vehicle dynamics
Velocity control
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Beschreibung
Zusammenfassung:A sampled-data, bang-bang control algorithm developed for a double integrator plant is extended to higher-order plants with two integrators. In the case where nonintegrator dynamics are considered unmodeled, the robustness of the control algorithm is analyzed. In the case where nonintegrator dynamics are modeled, the control algorithm design procedure is generalized to incorporate the additional dynamics. Both approaches are examined through the design and simulation of a steering controller for an autonomous ground vehicle
ISSN:0094-2898
2161-8135
DOI:10.1109/SSST.2006.1619108