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This paper focuses on identification of systems with rate saturation nonlinearity, considering measurement and process noises. A methodology is proposed to estimate the parameters of linear dynamics along with the upper and lower limits of rate saturation, using only system input and output. The methodology consists of four correlative parts which sequentially are choosing sine sweep signal with appropriate...
Powered Two-Wheeled vehicles (PTWv) are an increasingly popular means of transport. The cost and the risks of the development phase of this vehicles has to be diminished in order to ensure acceptable levels of comfort and safety for riders upstream of hazardous driving situations. It is required to study motorcycle while riding in cornering and lane-keeping to interpret the dynamics behavior. Thus,...
In this paper a novel formation control frame-work is presented for unmanned autonomous ground vehicles based on analytical mechanics and multibody interpretation. The coordinated motion is achieved by introducing holonomic constraint functions that describe the interaction between the vehicles. These functions are interpreted as constraint forces and the decentralized control law is determined for...
In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
Evaluating driving performance of autonomous vehicles is as important as developing automated driving algorithms. In order to ensure passenger safety, evaluation of driving behavior is required before delivering autonomous vehicles to customers. An Interacting Multiple Model (IMM)-based driver evaluation algorithm was developed and it provides various information associated with multiple driving aggressiveness...
This paper highlights the necessity of the rider weight consideration during observer's design for motorcycle dynamics estimation or control. It presents a novel approach using a linear parameter varying (LPV) model associated with the well-know Takagi-Sugeno (TS) methods to derive a robust observer regarding the rider weight uncertainty. Then the proposed solution is illustrated with an application...
The flatness-based approach is presented in this paper in order to estimate the motorcycle lateral dynamics such as the roll angle, the lateral tire forces or the steering torque from basic measurements. The model of the motorcycle associated with the flatness theory are used to express the unknown states and input in terms of nonlinear functions depending only on the measures and their time derivatives...
In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman filter to construct robust residuals in the presence of noise, and then uses a parametric statistical tool to identify cyberattacks. The parametric statistical tool...
This paper describes the design of a new haptic shared steering control framework for automated driving systems. In this framework, the shared control problem is formulated as a constrained optimization problem which is solved online by a model predictive controller. Without driver's intervention, the system assumes automatic lane-keeping control. When the driver takes over control, by adapting the...
At higher automation levels, drivers do not need to permanently monitor the surrounding traffic environment and are allowed to focus on other tasks, while an advanced driver assistance system controls the vehicle. However, there is evidence that human drivers are prone to driving mistakes when they have to take over control from the ADAS due to their lack of situation awareness. Smoothly shifting...
This paper presents a new robust estimation of the lateral velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides...
In this paper, we present a method to estimate abstract parameters of high definition (HD) maps from sensor data. Parameters we estimate include the distance from ego-vehicle to road boundary, orientation of the ego-vehicle with respect to lanes, number of lanes, and street type. Our method is realized as a Convolutional Neural Network (CNN) that takes pre-processed sensor information in the form...
This paper presents a cooperative shared control driver assistance system which supports the driver in the longitudinal vehicle control. The system architecture design enables the driver and the assistance system to apply a force on the accelerator pedal. Therefore, a cooperative control algorithm has to be developed. This design problem can be described mathematically as a differential game. For...
This paper focused on the aerodynamic modeling for hypersonic flight vehicles, taking into account the scramjet effects on aerodynamics. A methodology was proposed for aerodynamic modeling in this case. First, aerodynamic models were identified at each Mach number with the scramjet engine off. Then, the differences between aerodynamics with engine on and those with engine off were modeled to describe...
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