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Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…
This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive Control (MPC) with Extremum Seeking Control (ESC) to optimize the traction and…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Safe autonomous driving in urban areas requires robust algorithms to avoid collisions with other traffic participants with limited perception ability. Current deployed approaches relying on Autonomous Emergency Braking (AEB) systems are…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
In this paper we have implemented the autonomous emergency braking using two radar sensors with different angle of coverage. The synthetic radar data is generated by radar detection generator block available in AEBTestBench simulation…
This paper introduces an improved Electronic Stability Program for cars that can deal with the sudden burst of a tyre. The Improved Electronic Stability Program (IESP) is based on a fuzzy logic algorithm. The IESP collects data from the…
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost.…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
In this study, a stochastic power management strategy for in-wheel motor electric vehicles (IWM-EV) is proposed to reduce the energy consumption and increase the driving range by considering the unpredictable nature of the driving power…
This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…
This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position…
The requirement for continual improvement of idle speed control (ISC) performance is increasing due to the stringent regulation on emission and fuel economy these days. In this regard, a low-complexity offset-free explicit model predictive…
In this paper a self-developed controller algorithm is presented with the goal of handling a basic parking maneuver. One of the biggest challenges of autonomous vehicle control is the right calibration and finding the right vehicle models…
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking.…