Related papers: Feedforward PID Control of Full-Car with Parallel …
Ratio control for two interacting processes is proposed with a PID feedforward design based on model predictive control (MPC) scheme. At each sampling instant, the MPC control action minimizes a state-dependent performance index associated…
Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver license examination is chosen here for automatic execution by a…
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…
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…
This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…
Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually…
The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
This study proposes a delay-compensated feedback controller based on proximal policy optimization (PPO) reinforcement learning to stabilize traffic flow in the congested regime by manipulating the time-gap of adaptive cruise…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
Adaptive Cruise Control ACC can change the speed of the ego vehicle to maintain a safe distance from the following vehicle automatically. The primary purpose of this research is to use cutting-edge computing approaches to locate and track…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…