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Please note, we are experiencing high volume submissions; you will receive confirmations of submissions in due course. Data upload (DOI): https://researchdata.up.ac.za/ UPSpace: https://repository.up.ac.za/handle/2263/51914
Hierarchical fuzzy logic-based variable structure control for vehicles platooning
This paper proposes a variable structure control approach for vehicles platooning based on a hierarchical fuzzy logic. The leader-follower vehicle dynamics with model uncertainties is discussed from the viewpoint of a consensus problem. A practical two-layer fuzzy control for the platooning is designed by employing two common spacing policies to ensure system robustness in different scenarios. The two policies, i.e., constant distance and constant time headway, utilize the predecessor-successor information flow from the immediate predecessor and follower other than controlled vehicles. The first layer of the fuzzy system combines spacing control with velocity-acceleration control to achieve a rapid tracking for the desired control commands, and the second layer combines the sliding mode control to adaptively compensate for reducing the state errors caused by parameter uncertainties and disturbances. Shift between different controller parameters is based on performance boundaries to guarantee the stability of individual vehicle and platooning for arbitrary initial spacing and velocity errors. These performance boundaries can be determined by using a Lyapunov method with exponential stability. Simulation of a ten-vehicle large platooning with two spacing policies shows that the control performance of the newly proposed method is effective and promising.
Botha, Stefan; Le Roux, Johan Derik; Craig, Ian Keith(Elsevier, 2018-07)
A hybrid non-linear model predictive controller (HNMPC) is developed for a run-of-mine ore grinding mill circuit. A continuous-time grinding mill circuit model is presented with a hydrocyclone cluster as the primary ...
Gous, Gustaf Zacharias; Wiid, Andries J.; Le Roux, Johan Derik; Craig, Ian Keith(American Chemical Society, 2023-09)
Averaging level control is used in liquid processing plants to optimally use the available volume in surge drums and storage tanks to stabilize the feed to downstream equipment. This paper describes three averaging level ...
Bauer, Margret; Auret, Lidia; Le Roux, Johan Derik; Aharonson, Vered(Elsevier, 2018)
Control loop performance monitoring methods to detect problems in PID loops are developed and tested using industrial data sets. The data is captured from the process, passed on to the researcher who tries out new detection ...