Related papers: PI Controller for Active Twin-Accumulator Suspensi…
The trend in industrial automation is towards networking, intelligence and autonomy. Digital Twins, which serve as virtual representations, are becoming increasingly important in this context. The Digital Twin of a modular production system…
To overcome the oscillation problem in the classical momentum-based optimizer, recent work associates it with the proportional-integral (PI) controller, and artificially adds D term producing a PID controller. It suppresses oscillation with…
In this paper we propose a novel decision making architecture for Robust Model Predictive Path Integral control (RMPPI) and investigate its performance guarantees and applicability to off-road navigation. Key building blocks of the proposed…
Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
Digital twins promise to revolutionize engineering by offering new avenues for optimization, control, and predictive maintenance. We propose a novel framework for simultaneously training the digital twin of an engineering system and an…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…
Electromagnetic suspension system (EMS) is mostly used in the field of high-speed vehicle. In this paper, a space exploring vehicle quarter electromagnetic suspension system is modelled, designed and simulated using linear quadratic optimal…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…
Actuator location and design are important choices in controller design for distributed parameter systems. Semi-linear partial differential equations model a wide spectrum of physical systems with distributed parameters. It is shown that…
The problem of modeling and control of multi-terminal high-voltage direct-current transmission systems is addressed in this paper, which contains five main contributions. First, to propose a unified, physically motivated, modeling framework…
Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ .…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
The implementation of connected and automated vehicle technologies enables opportunities for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we…
With the rapid development of deep reinforcement learning technology, it gradually demonstrates excellent potential and is becoming the most promising solution in the robotics. However, in the smart manufacturing domain, there is still not…
Integrated electric parking brake (iEPB) is popularizing on passenger cars due to its easier operation and automatic functions. As a parking brake, EPB have to act as the secondary brake system in case of hydraulic brake failure. To…
This paper presents a new active power control algorithm designed to maximize the power reserve of the individual turbines in a farm, in order to improve the tracking accuracy of a power reference signal. The control architecture is based…