Related papers: Reduced Dynamics and Control for an Autonomous Bic…
Dynamic/kinematic model is of great significance in decision and control of intelligent vehicles. However, due to the singularity of dynamic models at low speed, kinematic models have been the only choice under many driving scenarios. This…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture…
This paper describes the full- and reduced-order models of an actuated hydraulic cylinder suitable for system dynamics analysis and motion control design. The full-order model incorporates the valve spool dynamics with combined dead-zone…
The motion of a vertically positioned bicycle is considered when a horizontal control force, which maybe both internal and external in relation to the bicycle, is applied to its pedal. Tangential forces of dryfriction obeying the Euler {…
We analyse the classical problem of the stability of bicycles when moving quickly and upright. Developing a lean causes the front wheel to turn thereby setting the bicycle instantaneously into circular motion. The centripetal force…
This paper develops a full-state feedback controller that damps out oscillations in traffic density and traffic velocity whose dynamical behavior is governed by the linearized two-class Aw-Rascle (AR) model. Thereby, the traffic is…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…
In this work I will obtain the system of nonlinear equations that correctly describes the motion of motorcycles and fast bicycles (above 30 km/hr) for the first time in literature. I will use it to calculate the lean angle during a turn and…
This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty…
Balancing a bicycle is typical for the balance control humans perform as a part of a whole range of behaviors (walking, running, skating, skiing, etc.). This paper presents a general model of balance control and applies it to the balancing…
The paper provides results for a non-standard, hyperbolic, 1-D, nonlinear traffic flow model on a bounded domain. The model consists of two first-order PDEs with a dynamic boundary condition that involves the time derivative of the…
The notions of basic controllability and basic control are defined using dynamical systems theory of partial differential equations. A quadratic optimal control of the linearized viscous Moore-Greitzer equation is presented and it is…
We propose a reduced-order model for the instantaneous hydrodynamic force on a cylinder. The model consists of a system of two ordinary differential equations (ODEs), which can be integrated in time to yield very accurate histories of the…
The limiting slow dynamics of slow-fast, piecewise-linear, continuous systems of ODEs occurs on critical manifolds that are piecewise-linear. At points of non-differentiability, such manifolds are not normally hyperbolic and so the…
In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its…
This paper develops boundary feedback control laws in order to damp out traffic oscillations in the congested regime of the linearized two-class Aw-Rascle (AR) traffic model. The macroscopic second-order two-class AR traffic model consists…
We analyse the production of defects during the dynamical crossing of a mean-field phase transition with a real order parameter. When the parameter that brings the system across the critical point changes in time according to a power-law…