相关论文: Hybrid control for low-regular nonlinear systems: …
Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during…
This article presents an eco-driving algorithm for electric vehicles featuring multi-speed transmissions. The proposed controller is formulated as a co-optimization problem, simultaneously optimizing both vehicle longitudinal speed and…
The implementation of connected and automated vehicle technologies enables opportunities for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
This work investigates the effect of three different driveability constraints on the optimal energy management strategy for a p2 parallel hybrid. Two of these constraints are used to prevent frequent gear shifting and engine start/stops,…
We consider the problem of controlling a vehicle to arrive at a fixed destination while minimizing a combination of energy consumption and travel time. Our model includes vehicle speed and accelaration limits, aerodynamic drag, rolling…
To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…
Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…
Energy management of plug-in Hybrid Electric Vehicles (HEVs) has different challenges from non-plug-in HEVs, due to bigger batteries and grid recharging. Instead of tackling it to pursue energetic efficiency, an approach minimizing the…
Reducing energy consumption is a key focus for hybrid electric vehicle (HEV) development. The popular vehicle dynamic model used in many energy management optimization studies does not capture the vehicle dynamics that the in-vehicle…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
This paper proposes a robust optimal eco-driving control strategy considering multiple signalized intersections with uncertain traffic signal timing. A spatial vehicle velocity profile optimization formulation is developed to minimize the…
Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…
Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…