相关论文: Extended Pacejka Tire Model for Enhanced Vehicle S…

Speeding has been and continues to be a major contributing factor to traffic fatalities. Various transportation agencies have proposed speed management strategies to reduce the amount of speeding on arterials. While there have been various…

The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…

A method of a fusion of fuzzy inference and policy gradient reinforcement learning has been proposed that directly learns, as maximizes the expected value of the reward per episode, parameters in a policy function represented by fuzzy rules…

This study is motivated by the need to develop an efficient numerical model to simulate non-uniform interfacial degradation of reinforcing steel in concrete in an accelerated corrosion setup. In this study, a multi physics finite element…

This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…

Friction is ubiquitous in daily life, from nanoscale machines to large engineering components. By probing the intricate interplay between system parameters and frictional behavior, scientists seek to unveil the underlying mechanisms that…

The phenomenon of corrugated surfaces is a known technical problem of tribological systems; considerable work has been published in the past on the aspect of rail corrugation of railway systems. Less known is a similar phenomenon observed…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

In rubber friction studies it is often observed that the kinetic friction coefficient {\mu} depends on the nominal contact pressure p. We discuss several possible origins of the pressure dependency of {\mu}: (a) saturation of the contact…

Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…

Incremental stiffness characterizes the variation of a material's force response to a small deformation change. Typically materials have an incremental stiffness that is fixed and positive, but recent technologies, such as super-lenses, low…

Vehicle models have a long history of research and as of today are able to model the involved physics in a reasonable manner. However, each new vehicle has its new characteristics or parameters. The identification of these is the main task…

While bringing convenience to people, the growing number of vehicles on road already cause inevitable traffic congestion. Some traffic congestion happen with observable reasons, but others occur without apparent reasons or bottlenecks,…

The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…

This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…

Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…