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Nowadays, electronic toll collection (ETC) is used extensively in many countries and places, but many drivers evade detection by covering, altering or otherwise obscuring their license plates. In order to detect vehicles attempting to evade paying tolls, this study aims to identify vehicles without requiring the license plate information. Unlike traditional vehicle license plate recognition, in this...
In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the...
Several extended state observer (ESO) based controllers for flight vehicle are investigated and compared in nominal condition and uncertain condition, respectively. Firstly, the flight vehicle model with parameter uncertainties and external disturbances are presented. And then, the baseline controllers, such as input-output linearization control (IOL), sliding mode control (SMC), and model predictive...
In this paper an adaptive interval type-2 fuzzy sliding mode controller, which is applied to flexible air-breathing hypersonic vehicle (FAHV) longitudinal model, is designed based on interval type-2 fuzzy logic systems (IT2-FLS) and sliding mode control (SMC) theory. In order to get FAHV longitudinal model stably controlled, we decouple the model into velocity and altitude channels through output...
This work is devoted to the construction of feedback laws which guarantee the robust global exponential stability of the uncongested equilibrium point for general discrete-time freeway models. The feedback construction is based on a control Lyapunov function approach and exploits certain important properties of freeway models. The developed feedback laws are tested in simulation. A comparison with...
In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified time-varying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the...
We discuss a simplified version of an open problem in system realization theory which has several important practical applications in complex networks. Particularly, we focus on algebraic connectivity (λ2) of the Laplacian of the network as an objective for maximization. We show that the maximum value of forced response of a linear mechanical (spring-mass) system can be minimized when the λ2 of the...
In this paper, we propose a two-stage robust perimeter flow control policy to prevent congestion in single-region transport networks. We describe the single-region traffic dynamics by utilising the so-called Macroscopic or Network Fundamental Diagram (MFD or NFD), a nonlinear relation between network-wide mean flow and accumulation of vehicles. By using MFD relaxation conditions and structuring uncertainties,...
This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing...
This paper presents a predictive energy management for plug-in hybrid vehicles, feasible for the implementation on an electronic control unit. An optimal reference trajectory for the battery's state of charge is calculated by solving a hybrid optimal control problem that considers continuous controls as well as discrete decisions, such as the switching between drive modes. The problem is solved via...
In this paper, we study the problem of resilient consensus of sampled-data multi-agent networks with doubleintegrator dynamics. The term resilient points to the presence of faulty agents in the network. Each normal agent updates its state based on a predetermined control law using its neighbors' information while misbehaving agents make updates arbitrarily and might threaten the consensus within the...
Cooperative driving and the associated need for vehicular communication motivate vehicular ad-hoc networks (VANETs). One major challenge is to provide for robust communication — in spite of highly dynamic topologies and the presence of shielding obstacles — without installing extra relay infrastructure. Traffic-density information and density estimation schemes are a valuable asset to approach this...
This paper presents a robust guaranteed cost state-delayed control design with applications to in-wheel-motor-driven electric vehicles equipped with active front steering system. The main control objective is to deal with the time delay problem of steering system for improving vehicle lateral stability and handling performance. To address the challenging problem of time delay, the time delay of steering...
Load scheduling is an effective way to improve the wind power penetration. Electric vehicle (EV) is an important type of the controllable load for its elasticity of charging time. However, the charging load of the EVs is random by nature and the accurate probability distributions of the wind power and EV parking event are hard to achieve. Therefore, in this paper, we consider scheduling EV charging...
This paper investigates the path following problem for four-wheel independently actuated (FWIA) autonomous vehicles (AVs). A novel output constraint controller is proposed to deal with the lateral offset control in path following and maintain the vehicle lateral stability in the presence of tire sliding effects. The innovation of this work includes the following two aspects: (1) A novel output constraint...
This paper presents a Bayesian nonparametric, data-driven, nonconvex uncertainty set construction for robust optimization. First, a basic uncertainty set is constructed from a union of posterior predictive ellipsoids for the Dirichlet process Gaussian mixture. The robustification of linear optimization problems using this set is proven to be a tractable second order cone problem with probabilistic...
We consider the control of two UAVs tracking an evasive moving ground vehicle. The UAVs are small fixed-wing aircraft equipped with gimbaled cameras and must coordinate their control actions so that at least one UAV is always close to the target. The control actions of the UAVs are computed based on noisy measurements of the UAVs' current state and vision-based measurements of the target's position...
While much work in the domain of traffic lights recognition is invested in the detection of traffic lights, classification of their exact state (including color phase and possible arrow pictogram) is often neglected. In this paper, we propose a robust approach for efficient video-based classification of said state with particular attention to the displayed pictogram and an additional ability to reject...
High-power, bidirectional DC/DC converters are widely used in electric vehicles. As vehicle volumes increase, the robust and efficient testing of these converters will be key to high reliability and low cost. A highly configurable, closed-loop, regenerative burn-in test system is presented here that reduces power supply and load requirements to less than 1/10th of those required for conventional test...
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