Abstract The paper presents the design of a new adaptive cruise control method which takes into consideration the knowledge of the inclinations of the road and the velocity regulations along the route of the vehicle. ...
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Abstract The paper presents the design of a new adaptive cruise control method which takes into consideration the knowledge of the inclinations of the road and the velocity regulations along the route of the vehicle. By choosing the velocities of the vehicle that are the most suitable for the given road conditions, the number of unnecessary accelerations and brakings and their durations can be reduced. First a control-oriented model which contains the longitudinal control forces and disturbances is formalized. In the model the predicted road inclinations and velocity regulations are considered together with the safety requirements. Then the control system is designed by using the Linear Parameter Varying (LPV) control theory. The operation of the longitudinal controlled system and the influence of different designed parameters are also analyzed.
Abstract The paper presents a multi-layer supervisory architecture for the design of adaptive integrated control systems in road vehicles. The performance specifications are guaranteed by the local LPV (Linear Paramet...
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Abstract The paper presents a multi-layer supervisory architecture for the design of adaptive integrated control systems in road vehicles. The performance specifications are guaranteed by the local LPV (Linear Parameter Varying) controllers, while the coordination of these components is provided by the supervisor. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. In the proposed architecture the supervisor and the components communicate through a well-defined interface. This interface uses the monitoring signals as additional scheduling variables of the individual LPV controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications.
作者：
Balázs NémethPéter GáspárSystems and Control Laboratory
Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary； Fax: +36-1-4667503； Phone: +36-1-2796171
Abstract The paper focuses on the design of a platoon control system which takes into consideration safe travel by using the string stability theorem and the knowledge of the inclinations of the road along the route o...
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Abstract The paper focuses on the design of a platoon control system which takes into consideration safe travel by using the string stability theorem and the knowledge of the inclinations of the road along the route of the platoon. By choosing the velocity of the platoon fitting in with the inclinations of the road the number of unnecessary accelerations and brakings can be reduced, thus so can the operations of the actuators of the vehicles, i.e. the driveline and the brake system. Although the longitudinal dynamics of the vehicles is formulated in a linear control-oriented model, the non-linear performance of the predicted road inclinations and safety requirements based on the string stability are taken into consideration. The design of the platoon control is based on the Linear Parameter Varying (LPV) control theory.
The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced ...
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A steady-state analytical model of the recently proposed "Time shared li-ion cell balancing circuit" is presented in this paper. This paper provides the necessary analytical proof of the cell balancer circui...
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A steady-state analytical model of the recently proposed "Time shared li-ion cell balancing circuit" is presented in this paper. This paper provides the necessary analytical proof of the cell balancer circuit to be used in future Plug-in Hybrid vehicles (PHEV) or utility energy storage applications. The model presented here bridges the simulation and experimental results obtained previously. In addition, the prototype of a four-cell lithium-ion battery balancer circuit with reduced component count has been constructed, and the test results have been verified with the analytical model. Although the "proof of concept" circuit was built to balance only four cells, the analytical model suggests that any number of series connected cells could be used in a string and balanced. Moreover, the analytical model can be extended to characterize the circuit parameters for any number of cells without any apparent issues. This model was also being verified using the simulation and experimental results with only 2% error margin.
In this paper, the mechanical and electrical characteristics of 3D microelectrode are presented to provide the long-term stability of the implanted microelectrode. As the dimensions of the microelectrode become smalle...
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In this paper, the mechanical and electrical characteristics of 3D microelectrode are presented to provide the long-term stability of the implanted microelectrode. As the dimensions of the microelectrode become smaller, the microelectrode can be easily damaged by mechanical pressure and over-injected electric charge. In order to avoid these destructions, allowable mechanical and electrical stress should be determined. Experiments for durability evaluation are set up and performed to measure the mechanical force and safe charge injection limit. The result of the experiments shows that the allowable mechanical force in vertical and horizontal direction is 0.8165 N and 0.2068 N, respectively. In the charge injection test, it is observed that the density of injected charge is a prior factor in microelectrode dissolution rather than the total amount of injected charge.
In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics a...
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In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.
This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system...
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This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system controls the actuator to maintain the line of sight of the stereo camera towards a stationary target by using the robot motion data. The robot motion data are obtained from a gyroscope and encoders of the mobile robot. The stereo vision data from the camera is used to compensate for errors in the motion measurements, and to prevent a long term error accumulation. This vision-based compensation is used only when the robot stops or moves slowly, because the long vision processing times can cause the loop time to overrun. The proposed system is experimentally evaluated while the robot moves on a trajectory.
The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameter...
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The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.
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