Related papers: LMI-based robust model predictive control for a qu…
This paper investigates the problem of robust model predictive control (RMPC) of linear-time-invariant (LTI) discrete-time systems subject to structured uncertainty and bounded disturbances. Typically, the constrained RMPC problem with…
This study evaluates a suspension design of a passenger car to obtain maximum rider's comfort when the vehicle is subjected to different road profile or road surface condition. The challenge will be on finding a balance between the rider's…
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external…
In this study, we detail the procedures for designing gain scheduling controllers by Linear Quadratic $H_\infty$ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed at steering control of the…
Vehicle suspension is important for passengers to travel comfortably and to be less exposed to effects such as vibration and shock. A good suspension system increases the road holding of vehicles, allows them to take turns safely, and…
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…
Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…
This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often…
Asymmetric damping is widely used in passive vehicle suspensions, with rebound damping often recommended to exceed compression damping by a factor of two to three. Despite its prevalence, this guideline remains largely empirical and lacks a…
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
Active feedback stabilization of the dominant resistive wall mode (RWM) for an ITER H-mode scenario at high plasma pressure using infinite-horizon model predictive control (MPC) is presented. The MPC approach is closely-related to…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing nonlinear state-space…
This paper presents an adaptive control strategy with LQ control of a quarter-car, which is ameliorated to smoothly follow the dynamically changing reference arm angle, in order to omit the heave sensor in this study. Linearized plant…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…