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In this paper, an optimal control allocation strategy is presented for an eight in-wheel-motor independent drive electric vehicle/four double front wheel steering(8WD/4WS). The upper level controller consists of a speed following controller and two sliding mode controllers. The speed tracking controller obtains the desired longitudinal force by tracking the longitudinal speed. Two sliding mode controllers...
This paper deals with the automated design of a Virtual Sensor used to estimate the vehicle planar motion states and the axle lateral forces. It is proposed to substitute the cumbersome and non-trivial manual task of tuning an Extended Kalman Filter by using meta-heuristic optimization, and in particular, employing the contrast-based Fruit Fly Optimization Algorithm (c-FOA). c-FOA is a recently developed...
The aircraft braking is a complex dynamic and kinematic process, involving the brake wheel and runway status, loaded state and anti-skid control strategy and other aspects, including sophisticated uncertainties and nonlinear factors. This paper aiming at the nonlinear tire model with unknown parameters, combined with the empirical fitting slip rate coefficient curve based on the linear identification...
The accurate information of vehicle states that could not be obtained directly by onboard sensors is virtual important for vehicle active safety systems. This paper presents the nonlinear full-order observer which is used to estimate the longitudinal velocity, lateral velocity and road grade estimation with autonomous driving. Firstly, this paper established a simplified vehicle dynamics model for...
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