相关论文: A Fuzzy Control Algorithm for the Electronic Stabi…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
The integration of renewables gradually replaces the traditional power plants, and this makes that the rotational inertia provided by the power plants is decreasing with time. Virtual inertia emulated by power electronic devices is becoming…
The increasing penetration of electric vehicles (EVs) can provide substantial electricity to the grid, supporting the grids' stability. The state space model (SSM) has been proposed as an effective modeling method for power prediction and…
This paper presents a new stochastic relay-based extremum-seeking controller (ESC) for multi-input-single-output (MISO) systems. The goal of this work was to create an algorithm that is much simpler to configure than alternative approaches…
Many energy-aware routing protocols have been proposed for wireless sensor networks. Most of them are only energy savers and do not take care about energy balancing. The energy saver protocols try to decrease the energy consumption of the…
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.…
This paper proposes a methodology to estimate uncertainty in automated vehicle (AV) dynamics in real time via Bayesian inference. Based on the estimated uncertainty, the method aims to continuously monitor the car-following (CF) performance…
Incremental stability of dynamical systems ensures the convergence of trajectories from different initial conditions towards each other rather than a fixed trajectory or equilibrium point. Here, we introduce and characterize a novel class…
Autonomous driving planning systems perform nearly perfectly in routine scenarios using lightweight, rule-based methods but still struggle in dense urban traffic, where lane changes and merges require anticipating and influencing other…
Connected vehicle fleets are deployed worldwide in several industrial IoT scenarios. With the gradual increase of machines being controlled and managed through networked smart devices, the predictive maintenance potential grows rapidly.…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…
A new optimized extreme learning machine- (ELM-) based method for power system transient stability prediction (TSP) using synchrophasors is presented in this paper. First, the input features symbolizing the transient stability of power…
Fuzzing is a technique widely used in vulnerability detection. The process usually involves writing effective fuzz driver programs, which, when done manually, can be extremely labor intensive. Previous attempts at automation leave much to…
An energy based approach for stabilizing a mechanical system has offered a simple yet powerful control scheme. However, since it does not impose such strong constraints on parameter space of the controller, finding appropriate parameter…
With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is…
Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be…
Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…