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Feedback Control Of Macroscopic Crowd Dynamic Models, S. Wadoo, S. Al-Nasur, Pushkin Kachroo
Feedback Control Of Macroscopic Crowd Dynamic Models, S. Wadoo, S. Al-Nasur, Pushkin Kachroo
Electrical & Computer Engineering Faculty Research
This paper presents design of nonlinear feedback controllers for two different macroscopic models for two- dimensional pedestrian dynamics. The models presented here are based on the laws of conservation of mass and momentum. These models have been developed by extending one-dimension macroscopic vehicle traffic flow models that use two-coupled partial deferential equations (PDEs). These models modify the vehicle traffic models so that bi-directional controlled flow is possible. Both models satisfy the conservation principle and are classified as nonlinear, time-dependent, hyperbolic PDE systems. The equations of motion in both cases are described by nonlinear partial differential equations. We address the feedback …
Feedback Control Design And Stability Analysis Of One Dimensional Evacuation System, S. Wadoo, Pushkin Kachroo
Feedback Control Design And Stability Analysis Of One Dimensional Evacuation System, S. Wadoo, Pushkin Kachroo
Electrical & Computer Engineering Faculty Research
This paper presents design of nonlinear feedback controllers for two different models representing evacuation dynamics in one dimension. The models presented here are based on the laws of conservation of mass and momentum. The first model is the classical one equation model for a traffic flow based on conservation of mass with a prescribed relationship between density and velocity. The other model is a two equation model in which the velocity is independent of the density. This model is based on conservation of mass and momentum. The equations of motion in both cases are described by nonlinear partial differential equations. …
H∞ Tracking Control For A Class Of Nonlinear Systems, Joseph A. Ball, Pushkin Kachroo, A. J. Krener
H∞ Tracking Control For A Class Of Nonlinear Systems, Joseph A. Ball, Pushkin Kachroo, A. J. Krener
Electrical & Computer Engineering Faculty Research
Develops the theory for tracking control using the nonlinear H∞ control design methodology for a class of nonlinear input affine systems. The authors use a two-step process of first designing the feedforward part of the controller to design for perfect trajectory following and then design the feedback part of the controller using nonlinear H∞ regulator theory. Results for infinite-time and finite-time horizons are presented
Chattering Reduction And Error Convergence In The Sliding-Mode Control Of A Class Of Nonlinear Systems, Pushkin Kachroo, Masayoshi Tomizuka
Chattering Reduction And Error Convergence In The Sliding-Mode Control Of A Class Of Nonlinear Systems, Pushkin Kachroo, Masayoshi Tomizuka
Electrical & Computer Engineering Faculty Research
To reduce chattering in sliding-mode control, a boundary layer around the switching surface is used, and a continuous control is applied within the boundary. The effects of various control laws within the boundary layer on chattering and error convergence in different systems are studied. New functions for chattering reduction and error convergence inside the boundary layer are proposed which are discontinuous in magnitude but not in sign. The internal model principle has been used to generalize the design for the class of nonlinear systems being considered.