相关论文: Extended Pacejka Tire Model for Enhanced Vehicle S…
Autonomous racing is becoming popular for academic and industry researchers as a test for general autonomous driving by pushing perception, planning, and control algorithms to their limits. While traditional control methods such as MPC are…
Varying temperatures influence the figure errors of freeform metal mirrors by thermal expansion. Furthermore, different materials lead to thermo-elastic bending effects. The article presents a derivation of a compensation approach for…
Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…
This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…
Simple experiments for which differential equations cannot be solved analytically can be addressed using an effective model that satisfactorily reproduces the experimental data. In this work, the one-dimensional kinematics of a…
A systematic expansion of the many-body master equation for active matter, in which motors power configurational changes as in the cytoskeleton, is shown to yield a description of the steady state and responses in terms of an effective…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
Accurate models of precipitation kinetics are essential to control and design structural materials. These models are highly sensitive to the thermodynamic description of precipitates. We use atomistic simulations of a model Fe-Cr system to…
Model predictive control (MPC) algorithms can be sensitive to model mismatch when used in challenging nonlinear control tasks. In particular, the performance of MPC for vehicle control at the limits of handling suffers when the underlying…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
We present a theoretical study of the effect of surface defects on atomic friction in the stick-slip dynamical regime of a minimalistic model. We focus on how the presence of defects and temperature change the average properties of the…
Over the past decade, there has been a growing trend toward integrating human factors (HF) into traffic flow models to better understand the complexities of human behavior and its impact on traffic dynamics. This research seeks to advance…
A system of nonlinear ordinary differential equations with forcing function is developed to model evolution processes in complex systems. In this system R, C, and P are the resource, consumption, and production functions correspondingly. F…
The existing control barrier function literature generally relies on precise mathematical models to guarantee system safety, limiting their applicability in scenarios with parametric uncertainties. While incremental control techniques have…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Out of thermal equilibrium, an environment imposes effective mechanical forces on microscopical nanofabricated devices, chemical or biological systems. Here we address the question of how to calculate these forces together with the response…
Tire degradation plays a critical role in Formula 1 race strategy, influencing both lap times and optimal pit-stop decisions. This paper introduces a Bayesian state-space modeling framework for estimating the latent degradation dynamics of…
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 provides a comprehensive comparison of model-based and data-driven approaches and analyses the benefits of using measured tyre forces for vehicle sideslip angle estimation. The model-based approaches are based on an extended…
Stability theory plays a crucial role in feedback control. However, adaptive control theory requires advanced and specialized stability notions that are not frequently used in standard feedback control theory. The present document is a set…