Search results for " Vehicle dynamics"

showing 3 items of 3 documents

Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers

2023

This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…

Settore ING-INF/04 - AutomaticaControl and Systems EngineeringAutonomous vehicles Estimation extended state observer (ESO) Force input-state estimation Mathematical models Observers racecars robust vehicle control self-driving Trajectory Uncertainty Vehicle dynamicsElectrical and Electronic EngineeringIEEE Transactions on Control Systems Technology
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Data-based modeling of vehicle crash using adaptive neural-fuzzy inference system

2014

Vehicle crashes are considered to be events that are extremely complex to be analyzed from the mathematical point of view. In order to establish a mathematical model of a vehicle crash, one needs to consider various areas of research. For this reason, to simplify the analysis and improve the modeling process, in this paper, a novel adaptive neurofuzzy inference system (ANFIS-based) approach to reconstruct kinematics of colliding vehicles is presented. A typical five-layered ANFIS structure is trained to reproduce kinematics (acceleration, velocity, and displacement) of a vehicle involved in an oblique barrier collision. Subsequently, the same ANFIS structure is applied to simulate different…

Adaptive neuro fuzzy inference systemEngineeringVehicle crash reconstructionAdaptive neural-fuzzy inference system (ANFIS)-based prediction; Time-series analysis; Vehicle crash reconstruction; Vehicle dynamics modeling; Control and Systems Engineering; Computer Science Applications1707 Computer Vision and Pattern Recognition; Electrical and Electronic Engineeringbusiness.industryControl engineeringComputer Science Applications1707 Computer Vision and Pattern RecognitionKinematicsCollisionDisplacement (vector)Computer Science ApplicationsVehicle dynamicsAccelerationAdaptive neural-fuzzy inference system (ANFIS)-based predictionControl and Systems EngineeringTime-series analysisTime seriesElectrical and Electronic EngineeringbusinessReliability (statistics)Vehicle dynamics modeling
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Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars

2007

In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A…

Nonholonomic systemEngineeringbusiness.industryControl engineeringFuzzy control systemKalman filterMotion controlFuzzy logicModel predictive controlSettore ING-INF/04 - AutomaticaControl theoryPosition (vector)Intelligent control Fuzzy control Motion control Kinematics Velocity control Intelligent transportation systems Delay effects Vehicle dynamics State estimation Error correctionbusinessIntelligent control2007 IEEE Intelligent Transportation Systems Conference
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