相关论文: Semi-automated transmission control for motorcycle…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Optimal control of magnetizing current for minimizing induction motor power losses during load torque step change was developed. Obtained strategy has feedback form and is exactly optimal of ideal speed controller performance and absence of…
Systematic design and verification of advanced control strategies for complex systems under uncertainty largely remains an open problem. Despite the promise of blackbox optimization methods for automated controller tuning, they generally…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
This paper introduces an automatic control method designed to enhance the operation of electric vehicles, besides the speed tracking objectives, by including reliability and lifetime requirements. The research considers an automotive power…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
Parameter tuning for vehicle controllers remains a costly and time-intensive challenge in automotive development. Traditional approaches rely on extensive real-world testing, making the process inefficient. We propose a multi-fidelity…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
A new data-enabled control technique for uncertain linear time-invariant systems, recently conceived by Coulson et\ al., builds upon the direct optimization of controllers over input/output pairs drawn from a large dataset. We adopt an…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned…
This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong;…
In this work, we focus on the challenge of transferring an autonomous driving controller from simulation to the real world (i.e. Sim2Real). We propose a data-efficient method for online and on-the-fly adaptation of parametrizable control…
The implementation of connected and automated vehicle technologies enables opportunities for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we…
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…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…