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Hybrid Control of Electric Vehicle Lateral Dynamics Stabilization

Khatir Tabti, Mohamend Bourahla, Lotfi Mostefai
<span title="2013-01-01">2013</span> <i title="Walter de Gruyter GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/k3w7rbtfrrge7bwj7qlgcavjlq" style="color: black;">Journal of Electrical Engineering</a> </i> &nbsp;
By formulating the vehicle dynamics using an approximating the tire-force characteristics into piecewise affine functions, the vehicle dynamics cen be described as a linear hybrid dynamical system to design  ...  This paper presents a novel method for motion control applied to driver stability system of an electric vehicle with independently driven wheels.  ...  The piecewise affine model developed in Section III.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/jee-2013-0007">doi:10.2478/jee-2013-0007</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/olshptpgafh5diprtfuqjuo3lq">fatcat:olshptpgafh5diprtfuqjuo3lq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190504022001/https://content.sciendo.com/downloadpdf/journals/jee/64/1/article-p50.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8f/05/8f05e18e20dadda07961939f7ae70399c0f11577.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/jee-2013-0007"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Estimation of Longitudinal Force, Sideslip Angle and Yaw Rate for Four-Wheel Independent Actuated Autonomous Vehicles Based on PWA Tire Model

Xiaoqiang Sun, Yulin Wang, Weiwei Hu
<span title="2022-04-29">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/taedaf6aozg7vitz5dpgkojane" style="color: black;">Sensors</a> </i> &nbsp;
to improve the accuracy of the lateral dynamics model of FWIA autonomous vehicles.  ...  This article introduces an efficient and high-precision estimation framework for four-wheel independently actuated (FWIA) autonomous vehicles based on a novel tire model and adaptive square-root cubature  ...  In Section 2, a 3-DoF vehicle model is introduced. Section 3 discusses how the novel PWA tire model was obtained based on piecewise affine identification is introduced.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s22093403">doi:10.3390/s22093403</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/35591093">pmid:35591093</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC9104631/">pmcid:PMC9104631</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/a6npqm57hvf4hncrq7i4msgd4e">fatcat:a6npqm57hvf4hncrq7i4msgd4e</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220503091745/https://mdpi-res.com/d_attachment/sensors/sensors-22-03403/article_deploy/sensors-22-03403.pdf?version=1651208585" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/cf/ec/cfec1a09235e4f6a7e052f98044ccf8b829e9098.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s22093403"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9104631" title="pubmed link"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> pubmed.gov </button> </a>

Predictive control approach to autonomous vehicle steering

T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, D. Hrovat
<span title="">2006</span> <i title="IEEE"> 2006 American Control Conference </i> &nbsp;
A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems.  ...  A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted.  ...  of a piecewise affine function.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2006.1657458">doi:10.1109/acc.2006.1657458</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/da5ypyif3vgepbtlaiyj3ni2pm">fatcat:da5ypyif3vgepbtlaiyj3ni2pm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809212006/http://www.me.berkeley.edu/~frborrel/pdfpub/pub-27.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ff/85/ff856f45fcd38659fb61da212db7a2af5cdf5819.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2006.1657458"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Tractable Compositions of Discrete-Time Control Barrier Functions with Application to Lane Keeping and Obstacle Avoidance [article]

Matthew Cavorsi, Mohammad Khajenejad, Ruochen Niu, Qiang Shen, Sze Zheng Yong
<span title="2020-04-04">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Moreover, we propose nonlinear discrete-time control barrier functions for partially control affine systems that lead to controlled invariance conditions that are affine in the control input, leading to  ...  In addition, we develop mixed-integer formulations for basic and secondary Boolean compositions of multiple control barrier functions and further provide mixed-integer constraints for piecewise control  ...  Similar results can also be derived in a straightforward manner when the system dynamics are switched among a set of partially control affine dynamics, and thus, a detailed description is omitted for the  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2004.01858v1">arXiv:2004.01858v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/off4tgdeavdnpmcn3m5gp3jefq">fatcat:off4tgdeavdnpmcn3m5gp3jefq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200828122134/https://arxiv.org/pdf/2004.01858v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8c/ed/8ced94b416b1d4281d5cedfbbdea89d21af4164a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2004.01858v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Fault-Tolerant Control for Intelligent Electrified Vehicles Against Front Wheel Steering Angle Sensor Faults During Trajectory Tracking

Lei Zhang, Zihao Wang, Xiaolin Ding, Shaohua Li, Zhenpo Wang
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
First, a linearized vehicle model is derived based on tire characteristics and is further combined with a steering actuator model to provide the modelling foundation for estimating the front wheel steering  ...  Finally, a linear time-varying model predictive controller is presented to execute the trajectory tracking task for an intelligent electrified vehicle.  ...  Wang was a recipient of numerous awards, including the Second National Prize for Progress in Science and Technology and the First Prize for Progress in Science and Technology from the Ministry of Education  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3075325">doi:10.1109/access.2021.3075325</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gtvlujk5rrduhcqt6y2tvw5ncq">fatcat:gtvlujk5rrduhcqt6y2tvw5ncq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210504052436/https://ieeexplore.ieee.org/ielx7/6287639/9312710/09411842.pdf?tp=&amp;arnumber=9411842&amp;isnumber=9312710&amp;ref=" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ba/21/ba21a1c8b0e5908baff706f1435b83b09e3d31cd.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3075325"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

HYSDEL—A Tool for Generating Computational Hybrid Models for Analysis and Synthesis Problems

F.D. Torrisi, A. Bemporad
<span title="">2004</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/w55uhp5h3rdubpws6c5kic4vxm" style="color: black;">IEEE Transactions on Control Systems Technology</a> </i> &nbsp;
We introduce the class of discrete hybrid automata (DHA) and show its relation with several other existing model paradigms: piecewise affine systems, mixed logical dynamical systems, (extended) linear  ...  We present HYSDEL (hybrid systems description language), a high-level modeling language for DHA, and a set of tools for translating DHA into any of the former hybrid models.  ...  Mignone for contributing many ideas and suggestions, Prof. M. Morari for fruitful discussions, Dr. F.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2004.824309">doi:10.1109/tcst.2004.824309</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6p3eljy5tvhsxoqybwbpbbhpra">fatcat:6p3eljy5tvhsxoqybwbpbbhpra</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171025094511/http://cse.lab.imtlucca.it:80/~bemporad/publications/papers/ieeecst-hysdel.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5b/76/5b76e39d46236da9b3be4b7c4e1147e925147e97.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2004.824309"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

A robust optimization approach for dynamic traffic signal control with emission considerations

Ke Han, Hongcheng Liu, Vikash V. Gayah, Terry L. Friesz, Tao Yao
<span title="">2016</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rrmhbqzoqjbvbjyvfdoremaa2a" style="color: black;">Transportation Research Part C: Emerging Technologies</a> </i> &nbsp;
We consider an analytical signal control problem on a signalized network whose traffic flow dynamic is described by the Lighthill-Whitham-Richards (LWR) model (Lighthill and Whitham, 1955; Richards, 1956  ...  To address this computational challenge, we proposed a novel reformulation of the LWR-E problem as a mixed integer linear program (MILP).  ...  This model relies on vehicle dynamics estimated from the LWR model.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.trc.2015.04.001">doi:10.1016/j.trc.2015.04.001</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4pbljo74a5cs5chaxyvdqdwhfm">fatcat:4pbljo74a5cs5chaxyvdqdwhfm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180722031236/http://spiral.imperial.ac.uk/bitstream/10044/1/23801/2/SignalEmission_TR-C.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/60/ac/60ac5e3b97e0312c1d58d864765fb2bd1b6ce275.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.trc.2015.04.001"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Guaranteed Cost Model Predictive Control-based Driver Assistance system for vehicle stabilization under tire parameters uncertainties

Carlos M. Massera, Marco H. Terra, Denis F. Wolf
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/cfmch5qrm5ckxpkho4uhbkgznm" style="color: black;">2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)</a> </i> &nbsp;
for a vehicle with uncertain tire parameters.  ...  Thus, this paper proposes a Guaranteed Cost Model Predictive Controller Driver Assistance System able to avoid front and rear tire saturation and to track the drivers intent up to the limits of handling  ...  Linear Tire Model A linear approximation of the lateral tire forces is valid for low slip angle situations and enables the development of a linear model of the vehicle dynamics.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/itsc.2016.7795574">doi:10.1109/itsc.2016.7795574</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/itsc/MasseraTW16.html">dblp:conf/itsc/MasseraTW16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ziwo6grpnjhnnha4guharr5u4m">fatcat:ziwo6grpnjhnnha4guharr5u4m</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200905065434/https://arxiv.org/pdf/1606.06709v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c3/58/c358ca3413a772df2acd1e06c1755bddfddcef28.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/itsc.2016.7795574"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Path- and data transmission planning for cooperating UAVs in delay tolerant network

Esten Ingar Grotli, Tor Arne Johansen
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lgc2un3ucjf3fgwb7o42q3s7d4" style="color: black;">2012 IEEE Globecom Workshops</a> </i> &nbsp;
Our algorithm is a novel framework where a network flow is being optimized on a dynamic network, which itself is optimized for task allocation and path planning.  ...  •We use a point mass model for each vehicle , given by where is the position vector, is the velocity vector and is the time step.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/glocomw.2012.6477819">doi:10.1109/glocomw.2012.6477819</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/globecom/GrotliJ12.html">dblp:conf/globecom/GrotliJ12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qhcjn6jaavgutlhib5t5arcpoe">fatcat:qhcjn6jaavgutlhib5t5arcpoe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808154140/http://www.wi-uav.org/2012/Download/Session2/Grotli%20-%20Path-%20and%20data%20transmission%20planning%20for%20cooperating%20UAVs%20in%20delay%20tolerant%20network.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a7/5d/a75dfed9c331430158ae95d2308ade76f93293fa.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/glocomw.2012.6477819"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Synthesis of a Model-Based Tire Slip Controller

Stefan Solyom, Anders Rantzer, Jens LÜdemann
<span title="">2004</span> <i title="Informa UK Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ev5p5mkyhzemhkowf6gdtcicwe" style="color: black;">Vehicle System Dynamics</a> </i> &nbsp;
Trajectory convergence for a class of nonlinear systems is analyzed. The servo problem for piecewise linear systems is treated.  ...  This thesis proposes a design model and based on that a hybrid controller that regulates the tire-slip. Simulation and test results are presented.  ...  The key word for novel vehicle dynamics control systems is integration.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/004231105123313868">doi:10.1080/004231105123313868</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ifxh3lftkzgl7kv6x3gwzymhxu">fatcat:ifxh3lftkzgl7kv6x3gwzymhxu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170922163322/http://lup.lub.lu.se/search/ws/files/4823598/8840417.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/58/a1/58a1d32039bcfef10c5aa3a9720a925bf0f823df.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/004231105123313868"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> tandfonline.com </button> </a>

Motion planning for urban autonomous driving using Bézier curves and MPC

Xiangjun Qian, Inaki Navarro, Arnaud de La Fortelle, Fabien Moutarde
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/cfmch5qrm5ckxpkho4uhbkgznm" style="color: black;">2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)</a> </i> &nbsp;
This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030.  ...  The path planner first generates a collision-free piecewise linear path and then uses quintic Bézier curves to smooth the path with C 2 continuity.  ...  Vehicle Model For high-level motion planning, we describe the vehicle using a particle motion model on a 2-D Cartesian plane: x(t) = v(t) cos(φ(t)), y(t) = v(t) sin(φ(t)), φ(t) = v(t)κ(t), (1) where (  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/itsc.2016.7795651">doi:10.1109/itsc.2016.7795651</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/itsc/QianNFM16.html">dblp:conf/itsc/QianNFM16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ahb4qf7fnbaczhgt46alalad6q">fatcat:ahb4qf7fnbaczhgt46alalad6q</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190430174038/https://hal.archives-ouvertes.fr/hal-01425647/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/12/34/123433576688869c81d1c9befbad820f176d87e4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/itsc.2016.7795651"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Simultaneous Observation of Hybrid States for Cyber-Physical Systems: A Case Study of Electric Vehicle Powertrain

<span title="">2018</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/snhjqrgxbff5teva5lfasxmfr4" style="color: black;">IEEE Transactions on Cybernetics</a> </i> &nbsp;
Based on the developed system models, the powertrain behavior is represented using hybrid automata according to the piecewise affine property of the backlash dynamics.  ...  System models, including the electric powertrain and vehicle dynamics models, are established considering the drivetrain backlash and flexibility, and also calibrated and validated using vehicle road testing  ...  The piecewise affined powertrain dynamics model is represented using the hybrid system theory, i.e. the hybrid automata in Section III.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcyb.2017.2738003">doi:10.1109/tcyb.2017.2738003</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/28841563">pmid:28841563</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ynd3zjgmtneghltmb4awlzo44u">fatcat:ynd3zjgmtneghltmb4awlzo44u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200309223449/https://dspace.lib.cranfield.ac.uk/bitstream/handle/1826/12714/Simultaneous_observation_of_hybrid_states_for_cyber-physical_systems-2017.pdf;jsessionid=59F3DC7120FDDC6017982EF7D8D11A2E?sequence=3" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6e/33/6e3328e581b584a5b26ecb58bf40e2e613e30773.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcyb.2017.2738003"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Hierarchical Model Predictive Control for Autonomous Collision Avoidance of Distributed Electric Drive Vehicle with Lateral Stability Analysis in Extreme Scenarios

Bowen Wang, Cheng Lin, Sheng Liang, Xinle Gong, Zhenyi Tao
<span title="2021-10-15">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zfdpvv5fgbcyliq2tvivdtjsxu" style="color: black;">World Electric Vehicle Journal</a> </i> &nbsp;
(MIQP) with the piecewise affine (PWA) tire model considering tire saturation region.  ...  This paper proposes an active collision avoidance controller based on a hierarchical model predictive control framework for distributed electric drive vehicles (4IDEV) considering extreme conditions.  ...  yaw angle. sin cos cos sin y y y x x y x y v a a v Y v v X v v ϕ ϕ ϕ ϕ ϕ =   =   = +   = −      (1) Piecewise Affine Vehicle Lateral Dynamics Model The lateral force of the tire has a nonlinear  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/wevj12040192">doi:10.3390/wevj12040192</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yrmvbjbshrgebdcbslovaqcwiq">fatcat:yrmvbjbshrgebdcbslovaqcwiq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220501153325/https://mdpi-res.com/d_attachment/wevj/wevj-12-00192/article_deploy/wevj-12-00192-v3.pdf?version=1634637102" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a7/87/a787a94b5acf72df8dfc41016538d857a7e64aca.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/wevj12040192"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Intersection-based piecewise affine approximation of nonlinear systems

Amin Zavieh, Luis Rodrigues
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/m4zsnahncffmpjlquazvbnvccq" style="color: black;">21st Mediterranean Conference on Control and Automation</a> </i> &nbsp;
This paper presents a new algorithm for PWA approximation of nonlinear systems.  ...  Index Terms-Intersection-based, piecewise affine, continuous functions approximation, functions of one variable  ...  Moreover, it is suggested in [9] that the resulting PWA model may be used for piecewise affine identification with a clustering approach [17] , mixed logical dynamics (MLD) model based technique [18  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/med.2013.6608790">doi:10.1109/med.2013.6608790</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/med/ZaviehR13.html">dblp:conf/med/ZaviehR13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fhnqnrvsuzdyphn3btqztcxj24">fatcat:fhnqnrvsuzdyphn3btqztcxj24</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20181103171151/https://spectrum.library.concordia.ca/974798/4/Inter_based_1D_Zavieh.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/3c/cd/3ccd9a9fef8fafa8f2e8c72d26b16eceb47a11fd.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/med.2013.6608790"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Segmented road grade estimation for fuel efficient heavy duty vehicles

Per Sahlholm, Karl Henrik Johansson
<span title="">2010</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wjd7b2sxyfahnaei4xvi46vwsu" style="color: black;">49th IEEE Conference on Decision and Control (CDC)</a> </i> &nbsp;
The method utilizes a piecewise linear road model derived from highway design methodologies.  ...  This paper describes a newly developed method to estimate the road grade using sensors commonly found on standard heavy duty vehicles.  ...  The authors gratefully acknowledge the support of the Swedish programme board for vehicle research through the IVSS programme. P.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2010.5717298">doi:10.1109/cdc.2010.5717298</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/cdc/SahlholmJ10.html">dblp:conf/cdc/SahlholmJ10</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qpemslatm5apdcmz2y7vndwz4y">fatcat:qpemslatm5apdcmz2y7vndwz4y</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170922060152/http://kth.diva-portal.org/smash/get/diva2:495853/FULLTEXT01" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5f/c2/5fc2af4537af95073bcd313ebf5b406c367ab806.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2010.5717298"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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