相关论文: Extended Pacejka Tire Model for Enhanced Vehicle S…
This paper proposes an event-triggered add-on safety mechanism to adjust the control parameters for timely braking in a networked vehicular system while maintaining maneuverability. Passenger vehicle maneuverability is significantly…
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. However, the derivative…
To understand the fairness properties of the BBR congestion-control algorithm (CCA), previous research has analyzed BBR behavior with a variety of models. However, previous model-based work suffers from a trade-off between accuracy and…
The disc instability model successfully reproduces many of the observed properties of cataclysmic variables. However, additional ingredients such as mass-transfer variations, disc irradiation, stream-disc overflow, or inner-disc truncation…
Road surface friction significantly impacts traffic safety and mobility. A precise road surface friction prediction model can help to alleviate the influence of inclement road conditions on traffic safety, Level of Service, traffic…
We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…
Road safety is impacted by a range of factors that can be categorized into human, vehicle, and roadway/environmental elements. This research explores the connection between pavement performance and road safety, particularly in relation to…
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.…
We introduce two models of industrial drying - a simplified one-equation model, and a detailed three-equation model. The purpose of the simplified model is rigorous validation of numerical methods for PDE-constrained optimal control. The…
The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open…
In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…
Simple models for friction are typically one-dimensional, but real interfaces are two-dimensional. We investigate the effects of the second dimension on static and dynamic friction by using the Frenkel-Kontorova (FK) model. We study the two…
In this work we investigate the finite-size effects on the phase structure of Walecka model within the framework of generalized Zeta-function, focusing on the influence of temperature as well as the number and length of compactified spatial…
Mechanical instability takes different forms in various ordered and disordered systems. We study the effect of thermal fluctuations in two disordered central-force lattice models near mechanical instability: randomly diluted triangular…
We consider the effect on tipping from an additive periodic forcing in a canonical model with a saddle node bifurcation and a slowly varying bifurcation parameter. Here tipping refers to the dramatic change in dynamical behavior…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
A lubrication model describes the dynamics of a thin layer of fluid spreading over a solid substrate. But to make forecasts we need to supply correct initial conditions to the model. Remarkably, the initial fluid thickness is not the…
In striking contrast to equilibrium systems, inertia can profoundly alter the structure of active systems. Here, we demonstrate that driven systems can exhibit effective equilibrium-like states with increasing particle inertia, despite…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…