Jaswandi Sawant

Bio: Jaswandi Sawant is an academic researcher from College of Engineering, Pune. The author has contributed to research in topics: Cooperative Adaptive Cruise Control & Platoon. The author has an hindex of 3, co-authored 5 publications receiving 12 citations.

Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration

Abstract: Cooperative adaptive cruise control (CACC) has a potential to improve traffic throughput, fuel efficiency and vehicle safety. The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method.

"dSPACE DSP DS-1104 based State Observer Design for Position Control of DC Servo Motor"

Abstract: This paper presents the design of a state observer for position control of a DC servo motor. The observer is designed using the Luenburger observer technique. The control scheme is designed using pole placement technique and the system is simulated on MATLAB/Simulink. Implementation of the same is on dSPACE DSP DS-1104 controller board with dc servo motor. Using controller board for design and implementation of state observer reduces the time required for design and testing when compared to other techniques. Results show that position control using this proposed method is more effective than other traditional methods such as PI, PIV control.

dSPACE DS1104 based Proportional Integral Sliding Mode Controller for Continuous Conduction Mode Buck Boost Converter

Abstract: The buck-boost converter is a popular non-isolated, inverting power stage topology. Buck Boost Converter can be controlled using different control algorithms like PID control, current mode programmed control, conventional sliding mode control etc. But in all these methods, the steady state error is found prominently. With the use of Proportional Integral Sliding Mode Control method (PI-SMC), the disadvantage of steady state error overcomes thereby stable and efficient response of output voltage. This paper focuses on using advanced tool, dSPACE DS1104 based controller and ControlDesk software for controlling the variations in the output voltage of power converter. This paper considers the problem of controlling switched mode buck-boost power converters, in the presence of load uncertainties connected to the converter as well as input voltage variation. The converter is modeled by an average non-linear state-space representation and is controlled according to pulse-width-modulation (PWM). The control purpose is to enforce the output voltage to track any desired reference signal irrespective of uncertainties and external disturbances. The paper shows that the control algorithm represented by PI-SMC in MATLAB/ Simulink and using the dSPACE dsp 1104 controller as control toolbox is able to control the prototype model.

A non-linear disturbance observer-based cooperative adaptive cruise control for real traffic scenarios:

Abstract: Cooperative adaptive cruise control (CACC) has a strong potential to improvise highway traffic capacity and ease traffic disturbances. Extensive exploration is not carried out in the area of CACC f...

Development of Cooperative Adaptive Cruise Control with multiple predecessors’ information and CarSim Validation

Abstract: The Cooperative Adaptive Cruise Control (CACC) system can reduce traffic flow and improve the safety of vehicles. The implementation of the CACC system requires the information over a vehicle to vehicle (V2V) communication and onboard sensors. In this paper, three control laws are designed based on the information available over the V2V communication channel. The proposed control laws are implemented and validated on a non-linear vehicle simulation tool CarSim and MATLAB/Simulink. The comparative performance of the proposed schemes is carried out for various headway time.

Experimental Implementation of New Sliding Mode Control Law applied To a DC-DC Boost Converter

Abstract: The real implementation of sliding mode controllers SMCs to a DC-DC boost converter is a challenge due to the nonminimum phase behavior of these kinds of converters and the SMCs chattering problem. In this paper, new integral sliding mode control laws with linear and proposed nonlinear sliding surfaces are developed to overcome these problems. An experimental comparative study between these SMCs and the classical SMC applied for a DC-DC boost converter is presented.

Study of the behavior of the incremental conductance algorithm for MPPT

Abstract: This paper analyzes the behavior of the Incremental Conductance (IC) maximum power point tracking algorithm used in photovoltaic modules. Three variants of the algorithm are compared under both simulations and real world tests with a DSP 1104 card control. The results obtained show that the variant whose simulated behavior is the best, actually is the worst in real world experiments, indicating that it is mandatory to test this kind of algorithms in real facilities. In this case, the facilities are placed in the laboratories of the Faculty of Engineering of Vitoria-Gasteiz (UPV/EHU, Spain), and the photovoltaic modules are on its roof.

Robustly String Stable Longitudinal Control for Vehicle Platoons Under Communication Failures: A Generalized Extended State Observer-Based Control Approach

Abstract: This paper investigates the longitudinal control of vehicle platoons with a focus on external disturbances, parameter uncertainties, and communication failures. When vehicle platoons encounter vehicle to vehicle wireless communication failures, the preceding vehicle’s acceleration is unavailable, which degrades the performance of the system. However, the existing achievements can not be directly used to address the aforementioned three issues. To this end, a generalized extended state observer-based control (GESOBC) law is contrived. First, the parameter uncertainties and the external disturbances are together regarded as a lumped disturbance. Then, a generalized extended state observer is designed to estimate the lumped disturbance and the preceding vehicle’s acceleration, separately. Based on the estimation, a composite controller consisting of a state feedback control part and an estimation-based feedforward control part is developed. Furthermore, it is proved that the proposed GESOBC method can guarantee the exponentially bounded stability of the individual vehicle and the input to state string stability of the whole vehicle platoon. Finally, numerical simulations are conducted to demonstrate the effectiveness and feasibility of the proposed method.

Design of a PWM based sliding mode controlled buck-boost DC-DC converter in continuous conduction mode

Abstract: This paper presents various issues on the design and implementation of a pulse-width modulation (PWM) based sliding mode (SM) controlled buckboost converter operated in continuous conduction mode (CCM). The method of modeling the system and translation of the SM equations for the PWM implementation are illustrated. The static and dynamic performances of the system are tested with an experimental prototype. Experimental results show that the proposed control scheme provides good voltage regulation and is suitable for common DC-DC conversion purposes.