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

Internal combustion engine (ICE) vehicles and electric vehicles (EVs) exhibit distinct vehicle dynamics. EVs provide rapid acceleration, with electric motors producing peak power across a wider speed range, and achieve swift deceleration…

We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…

The rapid adoption of electric buses by transit agencies around the world is leading to new challenges in the planning and operation of bus networks. In particular, the limited driving range of electric vehicles imposes operational…

In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…

Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…

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…

This paper presents a convex optimization framework to compute the minimum-lap-time control strategies of all-wheel drive (AWD) battery electric race cars, accounting for the grip limitations of the individual tyres. Specifically, we first…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…

Connected and Autonomous Electrified Vehicles (CAEV) is the solution to the future smart mobility having benefits of efficient traffic flow and cleaner environmental impact. Although CAEV has advantages they are still susceptible to…

This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…

This paper presents the development and validation of a digital twin for a scaled-down electric vehicle (EV) emulator, designed to replicate longitudinal vehicle dynamics under diverse operating conditions. The emulator integrates a…

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…

Electric Vehicles (EVs) are projected to be one of the major contributors to energy transition in the global transportation due to their rapid expansion. The EVs will play a vital role in achieving a sustainable transportation system by…

This paper investigates the performance of a lowcost Throttle-by-Wire-System (TbWS) for two-wheeler applications. Mopeds/scooters are still restricted environmentally harmful. Throttle-by-Wire-Systems can contribute to environmental…

Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…