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Virtual-point-based Asymptotic Tracking Control of 4WS Vehicles
Changfang Chen,Minglei Shu,Ruixia Liu 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.2
This paper studies the lateral and longitudinal path tracking control of four-wheel steering vehicles. By the introduction of virtual points, a robust and adaptive path tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, and coupling effects. An adaptive model-based feedforward adaptive term and the robust integral of the sign of the error (RISE) feedback term can be used to yield an asymptotic tracking result, which improve the tracking performance and reduce the control effort. The stability of closed-loop system is analyzed using a Lyapunov-based method. Simulation results are provided to demonstrate the performance of the proposed controller under different driving conditions.
Nonlinear Decoupling Control of Four-Wheel-Steering Vehicles with an Observer
Changfang Chen,Yingmin Jia 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.4
This paper studies the input-output decoupling control for the nonlinear vehicle model consisting of three degrees of freedom. The technique of quasi-linearization is used to simplify the vehicle model, which preserves inherent coupling effects between longitudinal acceleration/braking force, steering angles and the vehicle states. By choosing the combined control inputs, the input-output map of the vehicle dynamical system is reconstructed. Based on the model, the input-output decoupling controller is proposed. Furthermore, an asymptotically stable observer is presented. A modified form of mean value theorem is used to design the observer for the nonlinear vehicle system with bounded Jacobian. The observer gain can be obtained by solving linear matrix inequalities (LMIs). Several simulations are carried out to show the improvements in vehicle handling and stability due to the input-output decoupling control.
Modeling and Performance Analysis of MAC Protocol for WBAN with Finite Buffer
( Minglei Shu ),( Dongfeng Yuan ),( Changfang Chen ),( Yinglong Wang ),( Chongqing Zhang ) 한국인터넷정보학회 2015 KSII Transactions on Internet and Information Syst Vol.9 No.11
The IEEE 802.15.6 standard is introduced to satisfy all the requirements for monitoring systems operating in, on, or around the human body. In this paper, analytical models are developed for evaluating the performance of the IEEE 802.15.6 CSMA/CA-based medium access control protocol for wireless body area networks (WBAN) under unsaturation condition. We employ a three-dimensional Markov chain to model the backoff procedure, and an M/G/1/K queuing system to describe the packet queues in the buffer. The throughput and delay performances of WBAN operating in the beacon mode are analyzed in heterogeneous network comprised of different user priorities. Simulation results are included to demonstrate the accuracy of the proposed analytical model.
( Ruixia Liu ),( Yinglong Wang ),( Minglei Shu ),( Huiqi Zhao ),( Changfang Chen ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.11
The coexisting wireless body area networks (WBAN) is a very challenging issue because of strong inter-networks interference, which seriously affects energy consumption and spectrum utilization ratio. In this paper, we study a power control strategy with nearest neighbor nodes distribution for coexistingWBAN based on stochastic geometry. Using homogeneous Poisson point processes (PPP) model, the relationship between the transmission power and the networks distribution is analytically derived to reduce interference to other devices. The goal of this paper is to increase the transmission success probability and throughput through power control strategy. In addition, we evaluate the area spectral efficiency simultaneously active WBAN in the same channel. Finally, extensive simulations are conducted to evaluate the power control algorithm.