This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Robust Control Techniques for State Tracking in the Presence of Variable Time Delays
Technical Paper
2006-01-1163
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
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.
Recommended Content
Authors
- 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
Topic
Citation
Goodell, 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.Also In
References
- Elhajj I. Xi N. Fung W.K. Liu Y.H. Hasegawa Y. Fukuda T. “Supermedia Enhanced Internet Based Telerobotics” Proceedings of the IEEE, special issue on Networked Intelligent Robots Through the Internet 91 3 396 421 March 2003
- Smith Wilford Wehmueller Kurt “Detailed Simulation and Development of Hybrid Power Systems Energy Management Architectures” Paper presented at the 4 th International AECV Conference January 2002
- Wright Ronnie Goodell Jarrett Smith Wilford Nunez Patrick “A Delay Compensation Strategy For Improved Remote Link Control Over A Long Haul Communications Channel” Paper presented at the 6 th International AECV Conference June 2005
- Smith Wilford Nunez Patrick “Power and Energy Computational Models for the Design and Simulation of Hybrid-Electric Combat Vehicles” SPIE Paper No. 5805-02 Paper Presented at Simulation Science IX Orlando, FL 28 March 1 April 2005
- Compere Marc Simon Miguel Kajs John Pozolo Mike “Tracked Vehicle Mobility Load Emulation for a Combat Hybrid Electric Power System” Paper presented at the 6 th International AECV Conference June 2005
- Slotine Jean-Jacques Li Weiping Applied Nonlinear Control Prentice Hall 1991
- Doyle J. Francis B. Tannenbaum A. Feedback Control Theory MacMillan 1990
- Zhou K. Doyle J. Glover K. Robust and Optimal Control Prentice-Hall 1996