| 1. |
- Hosseini, Seyed Mehrdad, 1977, et al.
(author)
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Estimation of parameters and delay in driver models using L1-regularization
- 2016
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In: Proceedings of 2016 European Control Conference, ECC2016; Aalborg, Denmark; 29 June - 1 July 2016. - 9781509025909 ; , s. 945-950
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Conference paper (peer-reviewed)abstract
- A new method is proposed for driver reaction time(delay) and parameter estimation using a generic lateral model that is expressed in terms of the steering angle, yaw rate and lateral lane offset. The idea behind the presented method is to reformulate the original driver model with an overparametrized one and then use the L1-regularization method to enforce sparsity and thereby estimate the delay together with the parameters of the original model. A sequential algorithm is then presented to obtain better estimates of the parameters with a model in which the delay is fixed.
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| 2. |
- Köroglu, Hakan, 1971, et al.
(author)
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Platoon Control based on Predecessor and Delayed Leader Information
- 2016
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In: Reglermöte 2016.
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Conference paper (other academic/artistic)abstract
- The platoon control problem is considered with a leader and predecessor following scheme. A novel velocity-dependent spacing policy is integrated into this scheme in order to improve robustness against the communication delay with the leader. The velocity dependence is adjusted in this scheme with a scalar parameter that appears as the constant time headway in the standard predecessor following scheme. The design problem is considered with a first-order vehicle model and a simple PD-type controller. It is shown that formation stability can always be ensured with sufficient emphasis on the predecessor information. On the other hand, string stability can be achieved only when the headway parameter is chosen larger than the communication delay. It is also outlined how the feedback gains and the emphasis on the leader can be adjusted for desirable performance.
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| 3. |
- Sadeghi Kati, Maliheh, 1979, et al.
(author)
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H ∞ Static Output Feedback Synthesis under an Integral Quadratic Constraint with Application to High Capacity Transport Vehicles
- 2016
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In: In proceedings of European Control Conference, ECC 16. ; , s. 1999-2004
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Conference paper (peer-reviewed)abstract
- This paper proposes a new linear matrix inequality (LMI) approach for H ∞ static output feedback synthesis under an integral quadratic constraint (IQC) on the states. The proposed approach is applicable to a wider class of systems if compared to the relevant previous work. The new sufficient LMI condition for the IQC constraint might also preferable to work with when considering systems that have affine parameter dependence in the descriptor form. As a particularly relevant application, the proposed approach is then considered for the control of a high capacity transport vehicle to enhance itslateral performance. The verification results confirm significant reductions in rearward amplification of yaw rates and high speed transient offtracking for the nominal system.
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| 4. |
- Sadeghi Kati, Maliheh, 1979, et al.
(author)
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ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD
- 2016
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In: 14th International Heavy Vehicle Transport Technology Symposium.
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Conference paper (peer-reviewed)abstract
- A steering-based control is proposed for improving the lateral performance of anA-double combination with an active dolly. The controller is based on static outputfeedback combined with dynamic feed-forward and is designed to ensure an H ∞performance objective in the face of parametric uncertainty. The synthesis is per-formed via linear matrix inequality (LMI) optimizations. Two feed-forward designmethods are proposed and one of them is highlighted as the more rigorous approachfor dealing with parametric uncertainty. The verification results confirm a significantreduction in rearward amplification of yaw rates and high speed transient off-trackingeven when the dynamic feed-forward from the tractor steering angle accompaniesthe static feedback only from the articulation angles.
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| 5. |
- Sadeghi Kati, Maliheh, 1979, et al.
(author)
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Robust Lateral Control of an A-double combination via H∞ and Generalized H2 Static Output Feedback
- 2016
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In: IFAC-PapersOnLine. - : Elsevier BV. - 2405-8963. ; 49:11, s. 305-311
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Conference paper (peer-reviewed)abstract
- A robust static output feedback controller is developed for improving the high speed lateral performance of an A-double combination by active steering of the dolly unit. The controller is designed to be robust against the uncertainty in the cornering stiffness parameters of the tires in the semitrailers. Both H∞ and generalized H2 synthesis approaches are discussed together with their solutions in the form of linear matrix inequality (LMI) optimizations. The control syntheses are then applied to both a fixed system and an uncertain parameter-dependent system. The verification results confirm a significant reduction in rearward amplification of yaw rates and high speed transient off-tracking. To validate the simulation results, an advanced high-fidelity vehicle model is used.
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| 6. |
- Veenman, Joost, et al.
(author)
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Robust stability and performance analysis based on integral quadratic constraints
- 2016
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In: European Journal of Control. - : Elsevier BV. - 0947-3580. ; 31, s. 1-32
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Journal article (peer-reviewed)abstract
- The integral quadratic constraints (IQC) approach facilitates a systematic and efficient analysis of robust stability and performance for uncertain dynamical systems based on linear matrix inequality (LMI) optimization. With the intention to make the IQC analysis tools more accessible to control scientists and engineers, we present in this paper a tutorial overview in three main parts: i) the general setup and the basic IQC theorem, ii) an extensive survey on the formulation and parametrization of multipliers based on LMI constraints, and iii) a detailed illustration of how the tools can be applied.
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