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The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
Urban traffic congestion, exacerbated by inefficient parking management and cruising for parking, significantly hampers mobility and sustainability in smart cities. Drivers often face delays searching for parking spaces, influenced by…
The four-wheel independent drive and four-wheel independent steering (4WID-4WIS) configurations enhance control flexibility and dynamic performance potential for more integrated electric vehicles. This paper comprehensively analyzes the…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
Mobile machines using a hydrostatic transmission is highly efficient under lower working-speed condition but less capable at higher transport velocities. To enhance overall efficiency, we have improved the powertrain design by combining a…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
In recent years, Electric Vehicles (EVs) have seen widespread public adoption. While EVs produce zero tailpipe emissions, they contribute to an increase in another type of vehicular emission: tire emissions. Battery-operated EVs are…
This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Traffic congestion has dire economic and social impacts in modern metropolitan areas. To address this problem, in this paper we introduce a novel type of model-free transactive controllers to manage vehicle traffic in highway networks for…
This article presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a human-machine shared steering framework. For the overall system dynamics, a…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…