We present an information-theoretic approach to stochastic optimal control problems that can be used to derive general sampling-based optimization schemes. This new mathematical method is used to develop a sampling-based model predictive control algorithm. We apply this information-theoretic model predictive control scheme to the task of aggressive autonomous driving around a dirt test track, and compare its performance with a model predictive control version of the cross-entropy method.

Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

Integration of vehicle chassis control system has gained increasing attention since it can improve the vehicle safety and performance through effective coordination of individual control systems. This paper presents the development of an integrated control system of active front steering and normal force control using fuzzy reasoning to enhance the vehicle-handling performance. Individual control systems were first developed, and then their performances were compared with that of the integrated system. The simulation results indicate that the integrated chassis control scheme utilizing the steering and suspension controllers has proven to be more effective in attaining the desired performance that would not be attained individually.

Integrated Control of Suspension and Front Steering to Enhance Vehicle Handling

Magnetic Soft Matter is a rapidly evolving discipline with fundamental and practical interest. This is due to the fact that its physical properties can be easily controlled through external magnetic fields. In this review paper, we revisit the most recent progress in the field (since 2010) emphasizing the rheological properties of these fascinating materials. New formulations and flow kinematics are discussed. Also, new members are integrated into the long-lived magnetorheology family and suggestions are provided for future development.

/pdf/magnetorheology-a-review-xvap85gy6r.pdf

Magnetorheology: a review.

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Multibody Systems Approach To Vehicle Dynamics

Thermal properties of composite organic phase change materials (PCMs): A critical review on their engineering chemistry

This paper introduces the mathematical model of 12 Degrees of Freedom (DOF) light armoured vehicle, which consists of eight DOF in vertical motion of eight tyres, three DOF in vertical, roll and pitch motions of vehicle body and one DOF in angular motion of gun turret relative to weapon platform. Two sources of disturbance considered in this study are road irregularities and reaction force at the weapon platform. The results of the study show that the stability augmentation based active suspension system is able to significantly improve the dynamic performance of the light armoured vehicle compared with the passive system.

/pdf/disturbance-rejection-control-of-a-light-armoured-vehicle-cz438ttluw.pdf

Disturbance rejection control of a light armoured vehicle using stability augmentation based active suspension system

Semi Active Roll Control Suspension (SARCS) System on a New Modified Half Car Model

Semi-active suspension control with magnetorheological (MR) damper is one of the fascinating systems being studied in improving the vehicle dynamics By using the MR damper system, a controllable system can be produced dynamically and the majority of the performance of a fully active system can potentially be achieved Since the conventional optimization method always has a problem in identifying the optimum values and it is time consuming, the evolutionary algorithm is the best approach in replacing the conventional method as it is very efficient and consistent in exploring the values for every single space In this study, the semi-active control schemes, namely fuzzy logic based controllers tuned using a novel optimization algorithm called advanced firefly algorithm (AFA) is proposed to regulate the body of the vehicle’s suspension from any disturbances acted to the system The AFA is to be introduced based on the improvement of the original firefly algorithm (FA) to enhance the solution quality of the FA The comparative assessment study of the proposed optimizer with other evolutionary algorithm, called the particle swarm optimization (PSO) is also presented A simulation of semi-active suspension system with two degree of freedom is developed within MATLAB Simulink environment The simulation result indicates that the FL-AFA exhibits an improvement in terms of sprung acceleration and sprung displacement response, with 514% and 523% as compared with the FL-FA controller, FL-PSO controller, FL controller and passive systems

Fuzzy logic with a novel advanced firefly algorithm and sensitivity analysis for semi-active suspension system using magneto-rheological damper

This paper presents a Non-Parametric Linearised Data Driven (NPLDD) approach to model the dynamic performance of Magnetorheological (MR) damper. The proposed model is developed based on experimental data and consists of a pair of subsystems, namely, positive and negative relative acceleration of the damper. In each subsystem, the hard points of experimental data are mapped into look-up table for a set of applied voltage signals. The results of the study show that the proposed model is able to describe the behaviour of the damper adequately and the force tracking controller has the ability to track the desired force well.

Non-parametric linearised data driven modelling and force tracking control of a magnetorheological damper

Magnetorheological (MR) fluids consisted of micron-size particles generally often faces the instability problem due to the large density mismatch between the large particulate matter and continuous oil medium. Recently, researches have been conducted on the advantages of bidisperse MR fluids that is a mixture of micron and nano-sized magnetic particles. In this work, laboratory prepared maghemite nanoparticles (γ-Fe2O3) with average size of 9 nm were incorporated to the MR fluids comprising carbonyl iron (CI) to reduce the sedimentation rate of the MR fluids. Three different fluids with the same solid concentration of 80.98% have been prepared to contain 5 and 10% substitution of γ-Fe2O3 nanoparticles to the CI particles and the monodisperse CI particles for comparison purpose. The sedimentation rate was measured by optical tracking of the interface between the carrier liquid and particle suspension that formed in the fluids over time. The rheological properties of the bidisperse MR fluids were investigat...

Pakharuddin Mohd. Samin

Papers

Disturbance rejection control of a light armoured vehicle using stability augmentation based active suspension system

Semi Active Roll Control Suspension (SARCS) System on a New Modified Half Car Model

Fuzzy logic with a novel advanced firefly algorithm and sensitivity analysis for semi-active suspension system using magneto-rheological damper

Non-parametric linearised data driven modelling and force tracking control of a magnetorheological damper

Performance of bidisperse magnetorheological fluids utilizing superparamagnetic maghemite nanoparticles