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Updated: Jun 6, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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一个复合固定时间滑动模式控制方案,用于受外部干扰影响的无人地面车辆

Zongliang Chen1, Shuguo Pan1, Kegen Yu2

  • 1School of Instrument Science and Engineering, Southeast University, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China.

ISA transactions
|November 26, 2024
PubMed
概括

本研究引入了无人地面车辆 (UGV) 的新控制方法,以提高路径跟踪的准确性. 复合固定时间滑动模式 (CFTSM) 控制与固定时间干扰观察器 (FTDO) 显著减少喋喋不休,提高稳定性.

关键词:
复合固定时间滑动模式 (CFTSM)固定时间干扰观察员 (FTDO)固定时间稳定性路径-遵循的路径.无人驾驶地面车辆 (UGV)

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Feedback control systems01:26

Feedback control systems

Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
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Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Multi-input and Multi-variable systems

Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
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PD Controller: Design

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Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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Root-Locus Method

A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
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