相关论文: Yaw Stability Control System Development and Imple…

Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…

This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…

As electric vehicles (EVs) are increasingly adopted as platforms for connected and automated vehicles (CAVs), enhancing their energy efficiency becomes critical. With the emergence of vehicle-to-vehicle (V2V) communication, cooperative…

Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV).…

This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…

Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect…

When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…

Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Collective wind farm flow control, where wind turbines are operated in an individually suboptimal strategy to benefit the aggregate farm, has demonstrated potential to reduce wake interactions and increase farm energy production. However,…

This paper addresses the lateral control of Autonomous & Connected Vehicles (ACVs) convoys during Emergency Lane Change (ELC) maneuvers. These maneuvers are initiated in response to emergency cues from either the front or rear of the…

Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…

This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…

Active suspension systems are critical for enhancing vehicle comfort, safety, and stability, yet their performance is often limited by fixed hardware designs and control strategies that cannot adapt to uncertain and dynamic operating…

The rapid development and expansion of the EV market marked by the advent of third decade of the 21st century has improved the possibility of a sustainable automotive future. The present EV drivetrain run by BLDC motor has become…

This paper introduces an improved Electronic Stability Program for cars that can deal with the sudden burst of a tyre. The Improved Electronic Stability Program (IESP) is based on a fuzzy logic algorithm. The IESP collects data from the…

Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a…

Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…