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Proceedings ArticleDOI

Comparison of linear and non-linear control schemes for collision avoidance in heavy road vehicles

TL;DR: The developed controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory and it was observed that the non-linear controller has an advantage in terms of reduced time headway.
Abstract: In this paper, a non-linear controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory. This paper considers the longitudinal dynamics of the vehicle, including the aerodynamic effect, the rolling resistance and the road grade. This paper also considers the maximum tire-road adhesion capacity and the braking capability of the vehicle. The developed controller has been tested using simulation for three realistic scenarios for different road and loading conditions and the results were compared with a controller developed using a linear full state feedback controller. It was observed that the non-linear controller has an advantage in terms of reduced time headway.
Citations
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Journal ArticleDOI
TL;DR: In this paper, the performance analysis of a rectifier with width pulse modulation and resistive load is presented, and a comparison between the developed controllers is performed in order to get the best behavior available for this applications.
Abstract: Rectifiers are widely use in areas of industry and commerce to implement equipment which require to be powered by alternating current (AC) source, so that uncontrolled rectification requires an operational requirement study because they only properly works if the rectifier calculated boundary conditions are ideal and invariant. Therefore the implementation of control strategies should be take into account to generate the desired signal performance in the rectifier. This document shows the implementation of different control techniques on the behavior the sinusoidal current in a single-phase rectifier width modulated pulse and resistive load. Consequently, in this work the development of several control strategies are presented, for behavior analysis of signals in a rectifier with width pulse modulation and resistive load. Additionally, a comparison between the developed controllers is performed in order to get the best behavior available for this applications.

Cites background from "Comparison of linear and non-linear..."

  • ...So that, the study and knowledge of the systems to be controlled is vital to decide if is necessary to implement a nonlinear controller, or finally a linear control operates in the same performance range offered by the former [5, 6, 7]....

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References
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Book
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

15,545 citations


"Comparison of linear and non-linear..." refers methods in this paper

  • ...In this paper, a collision avoidance algorithm has been proposed using the Lyapunov theory by considering the pneumatic brake system dynamics, the longitudinal vehicle dynamics such as dynamic load transfer, brake force distribution between the wheels and the coefficient of adhesion at the tire-road interface....

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  • ...In order to obtain the control equation, the direct theorem of Lyapunov [13] was used....

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  • ...In this section, the algorithm for calculating the braking force is developed based on the Lyapunov direct method....

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  • ...In this paper, the Lyapunov theory was used to develop a collision avoidance algorithm for a heavy commercial road vehicle....

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  • ...Let us define a positive definite function, that is, the Lyapunov candidate function as V (e) = e(t)·Pe(t), (8) where P = 1 2 [ p1 0 0 p2 ] , where p1 and p2 are positive scalars....

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Journal Article
TL;DR: In this paper, the state-of-the-art understanding of rollover of the commercial vehicle is reviewed and a discussion of the evolving use of intelligent electronic systems and active vehicle control for reducing the occurrence of rollovers is presented.
Abstract: The state-of-the-art understanding of rollover of the commercial vehicle is reviewed. Accident statistics are presented which highlight the severity and lethal nature of rollover crashes. Physical and statistical evidence for the linkage between vehicle roll stability and the actual occurrence of rollover accidents is presented. The fundamentals of static roll stability are described in detail and then enhanced with discussion of dynamic considerations of the rollover process. The text concludes with a discussion of the evolving use of intelligent electronic systems and active vehicle control for reducing the occurrence of rollover. Appendices include a bibliography of the literature on heavy-vehicle rollover.

210 citations


"Comparison of linear and non-linear..." refers background in this paper

  • ...However, in case of heavy commercial road vehicles, steering in an emergency (particularly at higher speeds) may lead to roll-over because of the lower static roll-over threshold [9]....

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Proceedings ArticleDOI
04 Mar 2002
TL;DR: This work focuses on forward collision by braking, and presents a general method for calculating the risk for collision, and describes results from a simulation study using a large number of scenarios created from extensive accident statistics.
Abstract: Driver errors cause a majority of all car accidents. Forward collision avoidance systems aim at avoiding, or at least mitigating, host vehicle frontal collisions, of which rear-end collisions are one of the most common. This is done by either warning the driver or braking or steering away, respectively, where each action requires its own considerations and design. We here focus on forward collision by braking, and present a general method for calculating the risk for collision. A brake maneuver is activated to mitigate the accident when the probability of collision is one, taking all driver actions into considerations. We describe results from a simulation study using a large number of scenarios, created from extensive accident statistics. We also show some results from an implementation of a forward collision avoidance system in a Volvo V70. The system has been tested in real traffic, and in collision scenarios (with an inflatable car) showing promising results.

123 citations


"Comparison of linear and non-linear..." refers background in this paper

  • ..., collision avoidance by steering is more efficient than braking at higher speeds [8]....

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Journal ArticleDOI
TL;DR: The Lyapunov second method is used to derive a control law that can be used to control the spacing between vehicles in a platoon and a third-order system is adopted to model the vehicle and powertrain dynamics.
Abstract: The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of "expected spacing error" is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law.

68 citations

Journal ArticleDOI
TL;DR: In this article, a model reference adaptive controller is designed to ensure good vehicle speed tracking performance in brake-by-wire driving scenarios in presence of large payload and road grade variations.
Abstract: Modern heavy-duty vehicles are equipped with compression braking mechanisms that augment their braking capability and reduce wear of the conventional friction brakes. In this paper we consider a heavy-duty vehicle equipped with a continuously variable compression braking mechanism. The variability of the compression braking torque is achieved through controlling a secondary opening of the exhaust valve of the vehicle's turbocharged diesel engine using a variable valve timing actuator A model reference adaptive controller is designed to ensure good vehicle speed tracking performance in brake-by-wire driving scenarios in presence of large payload and road grade variations. The adaptive controller is integrated with backstepping procedure to account for compression braking actuator dynamics, with observers for various unmeasured quantities and with compensation schemes for actuator saturation. In addition to speed tracking, the vehicle mass and road grade are simultaneously estimated if persistence of excitation-type conditions hold. The final version of the controller is successfully evaluated on a high order crank angle model of a vehicle with a six-cylinder engine.

42 citations


"Comparison of linear and non-linear..." refers methods in this paper

  • ...The formulation of the controller for CAS based on the Lyapunov theory is motivated by the fact that a similar approach has been followed in developing a longitudinal controller for vehicles in a platoon [4] and to control the brake system [5], [6]....

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