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Automated Manual Transmission vehicles are generally equipped with the servo-actuated clutch engagement system. In that system, shift quality depends on the engaging time and controlling the clutch normal force. It is therefore crucial to pay attention to the control performance in order to guarantee smooth engagement of the clutch. This article proposes the control architecture that consists of the...
In modern automobiles, the driver's accelerator pedal position is fed to an electronic control unit, which has traditionally interpreted this pedal input as desired throttle angle but can interpret the pedal position in other ways as well. In this paper, we consider three interpretations of pedal position, namely desired throttle angle, desired net engine torque, and desired wheel torque. We design...
This paper presents a lane departure detection method. The road curvature is estimated and compared to the vehicle trajectory curvature. The proposed algorithm reduces false alarms and integrates the driver corrections by taking account of the steering dynamics. The used nonlinear model deduced from the vehicle lateral dynamics and a vision system is represented by a T-S fuzzy uncertain model with...
This article deals with tracking control of car-like vehicles which can communicate with one another. To realize the design of the energy based controller, three steps are involved: firstly, the kinetic energy shaping method is employed; secondly, virtual potential energy is added; and finally, dissipative functions are introduced. These steps are executed in order to control vehicles initially modeled...
This work develops an algorithm to initialize an Unscented Kalman Filter using a Particle Filter for applications with initial non-Gaussian probability density functions. The method is applied to estimating the position of a road vehicle along a one-mile test track and 7 kilometer span of a highway using terrain-based localization where the pitch response of the vehicle is compared to a pre-measured...
This paper describes a novel approach to moving-baseline carrier-phase differential GPS (DGPS) and a vehicle-to-vehicle object system based on the approach. In order to achieve sub-decimeter level accuracy, a Bayesian network is proposed to fuse measurements from GPS and low-cost vehicle dynamic sensors for trajectory reconstruction. A fast recursive implementation whose complexity scales linearly...
In a multi-objective optimization scenario (e.g., optimal sensor deployment and sensor field reconfiguration for detection of moving targets), the non-dominated points are usually concentrated within a small region of the large-dimensional decision space. This paper attempts to capture the low-dimensional behavior across the Pareto front by statistical mechanics-inspired optimization tools. A location-dependent...
In the present paper, we propose an integrated method for adaptive identification and inverse control of a magnetorheological (MR) damper. As a case study, MR damper is attached to a simple one degree-of-freedom structure to attenuate its vibration. Among different existing models Bouc-Wen model is chosen to characterize the nonlinear hysteretic behavior of the MR damper. The unknown parameters of...
Many modern structural control devices for earthquake engineering applications are essentially passive devices with adaptive parameters. Semiactive and regenerative forcing systems are two examples. In order to achieve performance superior to time-invariant passive systems, these devices must be controlled in the nonlinear regime, and consequently it is nontrivial to develop feedback controllers which...
Semi-active damping control represents a class of parametric control problems in which control decisions affect the value of positively-constrained damping parameters. Transfer functions from control to performance can not be written in closed form and performance is typically assessed in terms of the peak values of transient responses. In this study optimal control trajectories are designed to satisfy...
This paper presents the control design and interface implementation of a spherical pendulum system for control education demonstration. The Zero Vibration input shaper is implemented in the robot controller to minimize command induced cable swing. To maximize user perception, the interface is developed on a LabVIEW environment within a standard PC which is interface to the robot controller by a T1...
The ever increasing resolution of metrological and production devices, with required operation ranges below one micron, results in the necessity for isolating the sensor or tool from any external perturbation. For that, it is normally unavoidable the application of active strategies, capable of eliminating the resonance peaks and obtaining good damping results without an important reduction in the...
In this paper we address the problem of vibration reduction of buildings with delayed measurements, where the delays are time-varying and bounded. We focus on a convex optimization approach to the problem of state-feedback H∞ control design. An appropriate Lyapunov-Krasovskii functional and some free weighting matrices are used to establish some delay-range-dependent sufficient conditions for the...
This paper concerns second order sufficient conditions of optimality, for optimal control problems whose minimizers are not locally unique, i.e. there are distinct admissible controls arbitrarily close to the nominal optimal control which also achieve the minimum cost. Problems of this nature naturally arise in periodic control, shape optimization and other areas. Here, there exist transformations...
The price of anarchy (PoA) has been widely used in static games to quantify the loss of efficiency due to noncooperation. Here, we extend this concept to a general differential games framework. In addition, we introduce the price of information (PoI) to compare game performances under different information structures. We further characterize these two relative measures of performance for a class of...
Cost cumulant control is an optimal control method applied to the stochastic systems. Unlike the deterministic systems, the cost function in a stochastic system is a random variable. We use statistical control to optimize the distribution of the cost function via cost cumulants. We analyze the first and second cost cumulant optimization problems for nonlinear stochastic systems. The Hamilton-Jacobi-Bellman...
We consider a class of finite time horizon optimal control problems for continuous time linear systems with a convex cost, convex state constraints and non-convex control constraints. We propose a convex relaxation of the non-convex control constraints, and prove that the optimal solution of the relaxed problem is also an optimal solution for the original problem. This lossless convexification approach...
In this paper, we study the finite time (horizon) optimal control problem for singularly perturbed systems. The solution is obtained in terms of the corresponding solution of the algebraic Riccati equation and the decomposition of the singularly perturbed differential Lyapunov equation into reduced-order differential Lyapunov/Sylvester equations. An illustrative numerical example is provided to show...
A reactive N-step look-ahead scheme is used to plan paths for an unmanned air-vehicle (UAV) to maximize the probability of successfully identifying an object on the surface. UAVs are used for reconnaissance, search and rescue, and surveillance missions where the quality of camera imagery can determine the success or failure of an operation. Reactive path planning and mathematical models for calculating...
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