相关论文: Mu-synthesis PID Control of Full-Car with Parallel…

In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…

Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver license examination is chosen here for automatic execution by a…

Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…

Multi-Instance Learning (MIL) has shown impressive performance for histopathology whole slide image (WSI) analysis using bags or pseudo-bags. It involves instance sampling, feature representation, and decision-making. However, existing…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…

This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty…

Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Single - Output (SISO) system. However, the…

The autonomous driving industry is experiencing unprecedented growth, driven by rapid advancements in technology and increasing demand for safer, more efficient transportation. At the heart of this revolution are two critical factors:…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

This paper proposes a robust model predictive control-based solution for the recently introduced series active variable geometry suspension (SAVGS) to improve the ride comfort and road holding of a quarter car. In order to close the gap…

These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…

An almost periodic piecewise linear system (APPLS) is a type of piecewise linear system where the system cyclically switches between different modes, each with an uncertain but bounded dwell-time. Process regulation, especially disturbance…

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…

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.…

Traffic-responsive signal control is a cost-effective and easy-to-implement network management strategy with high potential in improving performance in congested networks with dynamic characteristics. Max Pressure (MP) distributed…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…

We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…