Rajesh Rajamani

Bio: Rajesh Rajamani is an academic researcher from University of Minnesota. The author has contributed to research in topics: Observer (quantum physics) & Nonlinear system. The author has an hindex of 51, co-authored 330 publications receiving 12980 citations. Previous affiliations of Rajesh Rajamani include Shanmugha Arts, Science, Technology & Research Academy & United Technologies.

Vehicle dynamics and control

Abstract: 1. Introduction.- 2.Lateral Vehicle Dynamics.- 3. Steering Control For Automated Lane Keeping.- 4. Longitudinal Vehicle Dynamics.- 5. Introduction to Longitudinal Control.- 6. Adaptive Cruise Control.- 7. Longitudinal Control for Vehicle Platoons.- 8. Electronic Stability Control.- 9. Mean Value Modeling Of SI and Diesel Engines.- 10. Design and Analysis of Passive Automotive Suspensions.- 11. Active Automotive Suspensions.-12. Semi-Active Suspensions.- 13. Lateral and Longitudinal Tires Forces.- 14. Tire-Road Friction Measurement on Highway Vehicles.- 15. Roll Dynamics and Rollover Prevention.- 16. Dynamics and Control of Hybrid Gas Electric Vehicles.

Observers for Lipschitz nonlinear systems

Abstract: This paper presents some fundamental insights into observer design for the class of Lipschitz nonlinear systems. The stability of the nonlinear observer for such systems is not determined purely by the eigenvalues of the linear stability matrix. The correct necessary and sufficient conditions on the stability matrix that ensure asymptotic stability of the observer are presented. These conditions are then reformulated to obtain a sufficient condition for stability in terms of the eigenvalues and the eigenvectors of the linear stability matrix. The eigenvalues have to be located sufficiently far out into the left half-plane, and the eigenvectors also have to be sufficiently well-conditioned for ensuring asymptotic stability. Based on these results, a systematic computational algorithm is then presented for obtaining the observer gain matrix so as to achieve the objective of asymptotic stability.

Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons

Abstract: This paper presents the design and experimental implementation of an integrated longitudinal and lateral control system for the operation of automated vehicles in platoons. The design of the longitudinal control system include nonlinear vehicle dynamics, string-stable operation with very small inter-vehicle spacing, operation at all speeds from a complete stop to high-speed cruising, and the execution of longitudinal split and join maneuvers in the presence of communication constraints. The design of the lateral control system include high-speed operation using a purely "look down" sensor system and lane changing without transitional lateral position measurements. We also describes the design of an on-board supervisor that utilizes inter-vehicle communication and coordinates the operation of the lateral and longitudinal controllers in order to execute entry and exit maneuvers. Experimental results are included from the NAHSC demonstration of automated highways at San Diego, CA.

Model Predictive Multi-Objective Vehicular Adaptive Cruise Control

Abstract: This paper presents a novel vehicular adaptive cruise control (ACC) system that can comprehensively address issues of tracking capability, fuel economy and driver desired response. A hierarchical control architecture is utilized in which a lower controller compensates for nonlinear vehicle dynamics and enables tracking of desired acceleration. The upper controller is synthesized under the framework of model predictive control (MPC) theory. A quadratic cost function is developed that considers the contradictions between minimal tracking error, low fuel consumption and accordance with driver dynamic car-following characteristics while driver longitudinal ride comfort, driver permissible tracking range and rear-end safety are formulated as linear constraints. Employing a constraint softening method to avoid computing infeasibility, an optimal control law is numerically calculated using a quadratic programming algorithm. Detailed simulations with a heavy duty truck show that the developed ACC system provides significant benefits in terms of fuel economy and tracking capability while at the same time also satisfying driver desired car following characteristics.

Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients

Abstract: It is well recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on the estimation of average tire-road friction coefficient for the entire vehicle. This paper explores the development of algorithms for reliable estimation of independent friction coefficients at each individual wheel of the vehicle. Three different observers are developed for the estimation of slip ratios and longitudinal tire forces, based on the types of sensors available. After estimation of slip ratio and tire force, the friction coefficient is identified using a recursive least-squares parameter identification formulation. The observers include one that utilizes engine torque, brake torque, and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. The developed algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate the feasibility of estimating friction coefficients at the individual wheels reliably and quickly. The sensitivities of the observers to changes in vehicle parameters are evaluated and comparisons of robustness of the observers are provided.

Recent Advances in Metal Oxide-based Electrode Architecture Design for Electrochemical Energy Storage

Abstract: Metal oxide nanostructures are promising electrode materials for lithium-ion batteries and supercapacitors because of their high specific capacity/capacitance, typically 2-3 times higher than that of the carbon/graphite-based materials. However, their cycling stability and rate performance still can not meet the requirements of practical applications. It is therefore urgent to improve their overall device performance, which depends on not only the development of advanced electrode materials but also in a large part "how to design superior electrode architectures". In the article, we will review recent advances in strategies for advanced metal oxide-based hybrid nanostructure design, with the focus on the binder-free film/array electrodes. These binder-free electrodes, with the integration of unique merits of each component, can provide larger electrochemically active surface area, faster electron transport and superior ion diffusion, thus leading to substantially improved cycling and rate performance. Several recently emerged concepts of using ordered nanostructure arrays, synergetic core-shell structures, nanostructured current collectors, and flexible paper/textile electrodes will be highlighted, pointing out advantages and challenges where appropriate. Some future electrode design trends and directions are also discussed.

Design and Mechanisms of Asymmetric Supercapacitors.

Abstract: Ongoing technological advances in diverse fields including portable electronics, transportation, and green energy are often hindered by the insufficient capability of energy-storage devices By taking advantage of two different electrode materials, asymmetric supercapacitors can extend their operating voltage window beyond the thermodynamic decomposition voltage of electrolytes while enabling a solution to the energy storage limitations of symmetric supercapacitors This review provides comprehensive knowledge to this field We first look at the essential energy-storage mechanisms and performance evaluation criteria for asymmetric supercapacitors to understand the wide-ranging research conducted in this area Then we move to the recent progress made for the design and fabrication of electrode materials and the overall structure of asymmetric supercapacitors in different categories We also highlight several key scientific challenges and present our perspectives on enhancing the electrochemical performance of future asymmetric supercapacitors

25th Anniversary Article: The Evolution of Electronic Skin (E-Skin): A Brief History, Design Considerations, and Recent Progress

Abstract: Human skin is a remarkable organ. It consists of an integrated, stretchable network of sensors that relay information about tactile and thermal stimuli to the brain, allowing us to maneuver within our environment safely and effectively. Interest in large-area networks of electronic devices inspired by human skin is motivated by the promise of creating autonomous intelligent robots and biomimetic prosthetics, among other applications. The development of electronic networks comprised of flexible, stretchable, and robust devices that are compatible with large-area implementation and integrated with multiple functionalities is a testament to the progress in developing an electronic skin (e-skin) akin to human skin. E-skins are already capable of providing augmented performance over their organic counterpart, both in superior spatial resolution and thermal sensitivity. They could be further improved through the incorporation of additional functionalities (e.g., chemical and biological sensing) and desired properties (e.g., biodegradability and self-powering). Continued rapid progress in this area is promising for the development of a fully integrated e-skin in the near future.

Dynamic surface control for a class of nonlinear systems

Abstract: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form. This method is another "synthetic input technique," similar to backstepping and multiple surface control methods, but with an important addition, /spl tau/-1 low pass filters are included in the design where /spl tau/ is the relative degree of the output to be controlled. It is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice. The backstepping approach, while suffering from the problem of "explosion of terms" guarantees boundedness of tracking errors globally; however, the proposed approach, while being simpler to implement, can only guarantee boundedness of tracking error semiglobally, when the nonlinearities in the system are non-Lipschitz.

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Abstract: Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.