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Robust Control Techniques for State Tracking in the Presence of Variable Time Delays
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 03, 2006 by SAE International in United States
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In this paper, a distributed driver-in-the-loop and hardware-in-the-loop simulator is described with a driver on a motion simulator at the U.S. Army TARDEC Ground Vehicle Simulation Laboratory (GVSL). Realistic power system response is achieved by linking the driver in the GVSL with a full-sized hybrid electric power system located 2,450 miles away at the TARDEC Power and Energy Systems Integration Laboratory (P&E SIL), which is developed and maintained by Science Applications International Corporation (SAIC). The goal is to close the loop between the GVSL and P&E SIL over the Internet to provide a realistic driving experience in addition to realistic power system results. In order to preserve a valid and safe hardware-in-the-loop experiment, the states of the GVSL must track the states of the P&E SIL. In a distributed control system utilizing the open Internet, the communications channel is a primary source of uncertainty and delay that can degrade the overall system performance and stability. The presence of a cross-country network delay and the unavoidable differences between the P&E SIL hardware and GVSL model will cause the GVSL states and P&E SIL states to diverge without any additional action. Thus, two robust strategies for state convergence are developed and presented in this paper. The first strategy is a non-linear Sliding Mode control scheme. The second strategy is an H-infinity control scheme. Both schemes are implemented in simulation, and both schemes show promising results for state convergence in the presence of variable cross-country time delays.
- Jarrett Goodell - Science Applications International Corporation
- Marc Compere - Science Applications International Corporation
- Miguel Simon - Science Applications International Corporation
- Wilford Smith - Science Applications International Corporation
- Ronnie Wright - Science Applications International Corporation
- Mark Brudnak - U.S. Army TARDEC
CitationGoodell, J., Compere, M., Simon, M., Smith, W. et al., "Robust Control Techniques for State Tracking in the Presence of Variable Time Delays," SAE Technical Paper 2006-01-1163, 2006, https://doi.org/10.4271/2006-01-1163.
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