An optimal control procedure is developed for the front and rear wheels of a three-axle vehicle moving on a complex typical road based on model following variable structure control strategy. The actual vehicle may be ...An optimal control procedure is developed for the front and rear wheels of a three-axle vehicle moving on a complex typical road based on model following variable structure control strategy. The actual vehicle may be considered as an uncertain system. Cornering stiffness of front and rear wheels and external disturbances are varied in a limited range. The model-following variable structure control method is used to control both front and rear wheels steering operations of the vehicle, so that steering responses of the vehicle follow from those of the reference model. By numerical results obtained from computer simulation, it is demonstrated that the control system model can cope with the effects of parameter perturbations and outside disturbances.展开更多
Cyber-physical systems(CPSs)are becoming increasingly complex,integrating physical entities with diverse computing and communication resources,multiple processors,networks,and devices.One example is the Unmanned Aircr...Cyber-physical systems(CPSs)are becoming increasingly complex,integrating physical entities with diverse computing and communication resources,multiple processors,networks,and devices.One example is the Unmanned Aircraft Systems(UAS)Traffic Management(UTM)system,where interactions among components can lead to UAS collisions and harm to people and property.System Theoretic Process Analysis(STPA)is a systems theory-based technique for conducting early-stage safety analyses of complex systems.The Model the Control Structure step in STPA involves identifying each controller component,its process models,and its control actions.However,conventional STPA process models use only variables and states,which may be insufficient for systems involving entities that transition through multiple state flows.This study introduces a novel extension by integrating Finite State Machine(FSM)modeling into the Model the Control Structure step.The FSM-based approach captures detailed behaviors of entities requiring control by explicitly modeling their states and transitions in an iterative process.This extended STPA was applied to the UTM to control the delivery of UAV packages.The results demonstrate that the FSM extension enhances identifying control actions,feedback loops,process model variables,and unsafe control actions.The study concludes that the extended STPA provides a systematic approach for analyzing CPSs with entities that undergo complex state transitions,contributing to improved systematization and consistency of safety analyses.展开更多
文摘An optimal control procedure is developed for the front and rear wheels of a three-axle vehicle moving on a complex typical road based on model following variable structure control strategy. The actual vehicle may be considered as an uncertain system. Cornering stiffness of front and rear wheels and external disturbances are varied in a limited range. The model-following variable structure control method is used to control both front and rear wheels steering operations of the vehicle, so that steering responses of the vehicle follow from those of the reference model. By numerical results obtained from computer simulation, it is demonstrated that the control system model can cope with the effects of parameter perturbations and outside disturbances.
基金supported by the Conselho Nacional de Desenvolvimento Científico e Tecnológico(CNPq)[grant number309620/2021-O]Fundaçao de AmparoàPesquisa do Estado de Sao Paulo(FAPESP)[grant number 2022/01051-7]CAPES PRINT[grant number 88881.310602/2018-01].
文摘Cyber-physical systems(CPSs)are becoming increasingly complex,integrating physical entities with diverse computing and communication resources,multiple processors,networks,and devices.One example is the Unmanned Aircraft Systems(UAS)Traffic Management(UTM)system,where interactions among components can lead to UAS collisions and harm to people and property.System Theoretic Process Analysis(STPA)is a systems theory-based technique for conducting early-stage safety analyses of complex systems.The Model the Control Structure step in STPA involves identifying each controller component,its process models,and its control actions.However,conventional STPA process models use only variables and states,which may be insufficient for systems involving entities that transition through multiple state flows.This study introduces a novel extension by integrating Finite State Machine(FSM)modeling into the Model the Control Structure step.The FSM-based approach captures detailed behaviors of entities requiring control by explicitly modeling their states and transitions in an iterative process.This extended STPA was applied to the UTM to control the delivery of UAV packages.The results demonstrate that the FSM extension enhances identifying control actions,feedback loops,process model variables,and unsafe control actions.The study concludes that the extended STPA provides a systematic approach for analyzing CPSs with entities that undergo complex state transitions,contributing to improved systematization and consistency of safety analyses.
