Article
Chemistry, Multidisciplinary
Hassan Tariq, Muhammad Rashid, Muhammad Asfand Hafeez, Saud S. Alotaibi, Mohammed H. Sinky
Summary: This article presents a robust hybrid linear quadratic regulator (HLQR) controller for unmanned free-swimming submersibles (UFSS) to overcome environmental disturbances and sensor noise, targeting the desired state of the UFSS. The controller employs two linear quadratic regulators and a mathematical structure of the Riccati equation for a hybrid approach, outperforming existing controllers in terms of settling time, rise time, overshoot, and steady-state error. The robustness of the HLQR is validated through feedback to step response and hydrodynamic disturbances.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Xiang Chen, Lingtao Wei, Xiangyu Wang, Liang Li, Qiong Wu, Lingyun Xiao
Summary: This study proposes a hierarchical cooperative control for the electromechanical brake-by-wire system (EBW) to coordinate mechanical braking and regenerative braking during ABS triggering in electric vehicles. The experiment results show that this strategy achieves better braking safety and energy regeneration performance compared to mature strategies in products. The research provides an effective solution of cooperative control for EVs, which can be utilized as a low-cost approach for precise braking torque in vehicle stability control.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Automation & Control Systems
Jun Shen, Junhui Zhang, Huaizhi Zong, Min Cheng, Bing Xu
Summary: This study proposes a novel separated cylinder model and designs a hierarchical decoupling controller to overcome the difficulty in dynamic modeling and parameter identification for hydraulic manipulators. Based on the proposed dynamic model and control strategy, contact force/motion control is achieved, with satisfactory performance.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Chemistry, Analytical
Yuchen Qian, Yong Xie, Jianjun Jia, Liang Zhang
Summary: In this study, an active vibration isolation controller is proposed to reduce the effect of vibrations on variations in the cavity length and improve the frequency stability of ultrastable lasers. The designed controller uses a state-differential feedback controller with a linear quadratic regulator (LQR) and a disturbance observer (DOB) to estimate source noise. Experimental results confirmed the feasibility and performance of the controller, as it effectively suppressed accelerations in the low-frequency band within 200 Hz and met the requirements of an ultrastable laser.
Article
Chemistry, Analytical
Xuanyang Shi, Junyao Gao, Yizhou Lu, Dingkui Tian, Yi Liu
Summary: The paper introduces a method of real-time optimization using a CoM-velocity feedback controller, constructing a touchdown return map and using nonlinear least squares to optimize spring stiffness. Hierarchical quadratic programming optimization is used for strict task priority, with the dynamic equation given the highest priority, reducing the number of optimizations.
Article
Engineering, Electrical & Electronic
Hongfang Li, Kai Wang, Huimin Hao, Zhifei Wu
Summary: This paper presents a new control strategy for vehicle stability based on brake-by-wire, and verifies its effectiveness through experimental research.
WORLD ELECTRIC VEHICLE JOURNAL
(2023)
Article
Automation & Control Systems
Huawei Jin, Huwei Xu, Shun Wang
Summary: This research analyzes the electromechanical mechanical disc brake of mine hoist and establishes a mathematical model. An automatic control system based on linear quadratic regulator and PI controller is proposed to achieve self-adaptive adjustment of braking clearance and braking force. The experimental results indicate that the system has good stability and control performance.
MEASUREMENT & CONTROL
(2022)
Review
Acoustics
Mohsin Rizwan, Ahmad Haseeb Mushtaq
Summary: In the past, researchers have tried different approaches to improve the precise speed control of hydraulic turbines by using the synchronization time between turbine/generator and the grid as a test bench. These attempts either focused on improving the moment when the phase difference between the two systems becomes zero or on using mathematical model-based techniques for precise speed control. However, due to the highly nonlinear nature of hydro turbines, the models proposed in the past were never perfect. In this research work, a model-free approach was adopted and proved to outperform the old model-based techniques in both stable and unstable grids, with negligible effects of grid instability on speed control and synchronization time. The developed system achieved a speed control accuracy of up to 5 mHz during synchronization.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Automation & Control Systems
Shuo Cheng, Liang Li, Cong-Zhi Liu, Xiuheng Wu, Sheng-Nan Fang, Jia-Wang Yong
Summary: This article proposes a novel robust linear matrix inequality (LMI)-based H-infinite feedback algorithm for vehicle dynamics stability control, which is robust against vehicle parametric uncertainties.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Jinghua Guo, Jingyao Wang, Yugong Luo, Keqiang Li
Summary: This study proposes a Takagi-Sugeno (T-S) fuzzy-based robust H infinity integrated lane-keeping (LKS) and direct yaw moment control (DYC) system to enhance the automatic driving performance of unmanned electric vehicles. The system considers the time-varying features and parametric uncertainties of the vehicles, and the effectiveness of the control scheme is verified through simulations and experiments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Mohamad Norherman Shauqee, Parvathy Rajendran, Nurulasikin Mohd Suhadis
Summary: Controlling a quadcopter is challenging due to its highly nonlinear dynamics and complex aerodynamic effects. This study compared six controllers and found that the proposed PD2-LQR controller significantly improved performance in almost all responses, making it a promising alternative for quadcopter motion control.
Article
Engineering, Mechanical
Shouvik Chakraborty, Anindita Sengupta, Ashoke Sutradhar
Summary: This paper presents a modular approach based on AUKF to estimate lateral vehicle dynamics and tyre forces. Through simulation and real vehicle dataset validation, the results show that the proposed scheme has higher accuracy and less computational time compared to non-modular observers.
INTERNATIONAL JOURNAL OF VEHICLE DESIGN
(2022)
Article
Computer Science, Information Systems
Xiaorui Jia, Mi Zhao
Summary: In order to improve the fuel economy of fuel cell hybrid electric vehicles (FCHEV), a hierarchical energy management strategy (HEMS) is proposed. The strategy is able to effectively allocate power to the hybrid power system with three energy sources: fuel cell, battery, and ultracapacitor, resulting in reduced hydrogen consumption and improved overall energy efficiency, as demonstrated by simulation experiments.
Article
Engineering, Mechanical
Shouvik Chakraborty, Ashoke Sutradhar, Anindita Sengupta
Summary: The paper presents a novel modular estimation approach for lateral vehicle and tire dynamics using a simplified vehicle model and a non-linear estimation algorithm. A dynamics-oriented representation of lateral tire forces with a single track lateral vehicle model (STVM) is introduced, along with distributed observer modules for each dynamical parameter and a Unified Estimation Scheme (UES). The designed linear quadratic regulator (LQR) based Active Front Steering (AFS) control system shows improved accuracy and computational efficiency, with stable performance in closed loop control demonstrated through simulations and real-time validation.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2021)
Article
Engineering, Multidisciplinary
Marco Gadola, Daniel Chindamo, Basilio Lenzo
Summary: This paper revises the working principles and limitations of mechanical limited-slip differentials, highlighting their impact on vehicle dynamics being overlooked in current literature. The authors aim to fill this gap by providing a comprehensive literature review and intuitive explanations of limited slip systems' effects.
ENGINEERING LETTERS
(2021)
Article
Engineering, Mechanical
Changle Xiang, Haonan Peng, Weida Wang, Liang Li, Quan An, Shuo Cheng
Summary: This paper proposes a hierarchical path tracking control strategy to enhance the lateral stability and safety performance of autonomous four in-wheel-motor independent-drive vehicles by coordinating direct yaw moment control and utilizing a vehicle dynamic model for multi-objective cooperative control.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2021)
Review
Engineering, Mechanical
Chao Huang, Liang Li, Xiangyu Wang
Summary: In an era of automated driving, the steer-by-wire system plays a crucial role in autonomous vehicles. Different types of control loops can affect the system's performance, with the type I control loop having a faster response speed and the type II control loop having a smoother response. Theoretical, simulation, and experimental results are provided to aid in understanding and application in both research and engineering practice.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2021)
Article
Engineering, Electrical & Electronic
Liang Li, Xianyao Ping, Jialei Shi, Xiangyu Wang, Xiuheng Wu
Summary: Regenerative braking system can recover energy in electric vehicles, but traditional optimization methods may not be sufficient to meet complex driving demands. Driverless vehicles can better optimize energy recovery, route tracking, and dynamics stability, thus improving efficiency.
IET INTELLIGENT TRANSPORT SYSTEMS
(2021)
Article
Engineering, Mechanical
Qiong Wu, Shuo Cheng, Liang Li, Fan Yang, Li Jun Meng, Zhi Xian Fan, Hua Wei Liang
Summary: This paper proposes a fuzzy-inference-based reinforcement learning approach for autonomous overtaking decision making in automated vehicles, considering various factors such as vehicle safety, driving comfort, and vehicle efficiency, and validating the effectiveness of the method on a simulation platform.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2022)
Article
Automation & Control Systems
Shuo Cheng, Liang Li, Xiang Chen, Jian Wu, Hong-da Wang
Summary: The article proposes a vehicle automated steering controller based on model predictive control (MPC) approach, which improves control performance, ensures control accuracy, and strong robustness.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Lingtao Wei, Xiangyu Wang, Liang Li, Zhixian Fan, Ruzhen Dou, Jingui Lin
Summary: This study proposes a model predictive control (MPC) method based on the Takagi-Sugeno (T-S) fuzzy model to realize yaw stability control (YSC) in the nonlinear region. The results show that the proposed strategy has similar performance in the vehicle stable region with linear MPC, and it is able to suppress the instability of the vehicle in the nonlinear region, with an acceptable computation burden.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Computer Science, Artificial Intelligence
Baiming Chen, Mengdi Xu, Liang Li, Ding Zhao
Summary: Action delays can reduce the performance of reinforcement learning in real-world systems. This paper introduces a formal definition of delay-aware Markov Decision Process and presents a delay-aware model-based reinforcement learning framework. Experimental results demonstrate that the proposed algorithm is more efficient in training and transferable between systems with different durations of delay compared to state-of-the-art model-free reinforcement learning methods.
Article
Engineering, Multidisciplinary
Cheng Shuo, Zhang Yan, Yang YiYong, Fang ShengNan, Li Liang, Wang XiangYu
Summary: The study proposes a dynamic-programming-rule-based (DPRB) downshifting strategy for a specific hybrid electric bus (HEB) driving condition. By analyzing the braking characteristics of the HEB during the process of pulling in, a medium-time-distance (MTD) representing the dimension of time and space is proposed to define the boundary condition of the running bus. Look-up tables are established based on a dynamic programming algorithm offline using multiple sets of historical data, allowing real-time decision-making on whether to enter the optimal gear selection process based on driving data.
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2021)
Article
Automation & Control Systems
Lingtao Wei, Xiangyu Wang, Liang Li, Lu Yu, Zijun Liu
Summary: This study proposed a machine learning-based framework for monitoring the tire pressure of vehicles without the need for additional sensors. By extracting features, removing manufacturing errors, and analyzing signals, the framework can accurately judge the normal state and pressure loss of tires.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Civil
Shuo Cheng, Liang Li, Yong-Gang Liu, Wei-Bing Li, Hong-Qiang Guo
Summary: The paper introduces a lane-keeping integrated with collision avoidance control system based on a virtual fluid-flow model, combining lane-keeping and collision avoidance functions. Through co-simulations and real-bus tests, the effectiveness of the proposed control system has been verified.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Engineering, Electrical & Electronic
Zijun Liu, Shuo Cheng, Xuewu Ji, Liang Li, Lingtao Wei
Summary: The paper proposes a hierarchical anti-disturbance tracking architecture based on the steer-by-wire system to improve tracking accuracy and dynamic stability for autonomous vehicles. The architecture is robust against different types of disturbances in the path tracking process through hierarchical decoupling.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Engineering, Mechanical
Qiuyue Du, Chenxi Zhu, Quantong Li, Bin Tian, Liang Li
Summary: The article introduces a new four-wheel active steering control strategy, which utilizes the MPC algorithm for path tracking control, designs an estimator based on UKF theory and low-cost sensors, and combines it with the LQR optimal controller to achieve optimized control of front and rear steering. Simulation results demonstrate that this method performs well in lateral control stability and path tracking accuracy.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2022)
Article
Engineering, Civil
Cong-Zhi Liu, Liang Li, Xiang Chen, Jia-Wang Yong, Shuo Cheng, Hong-Lei Dong
Summary: In this study, a novel mixed H-2/H-infinity observer-based controller is proposed to address delayed measurements for real-time feedback control in advanced driver assistant system (ADAS). The controller enables object tracking and car-following, as well as attenuation of noises in the adaptive cruise control (ACC) system. The design criterion for the proposed controller is established based on linear matrix inequality (LMI) technique, demonstrating effectiveness through experiment scenarios.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Baiming Chen, Xiang Chen, Qiong Wu, Liang Li
Summary: This paper proposes an adaptive evaluation framework to efficiently evaluate autonomous vehicles in adversarial environments generated by deep reinforcement learning. By using ensemble models and nonparametric Bayesian methods to achieve diversity and cluster adversarial policies. Results show that the proposed method significantly degrades the performance of tested vehicles and can be used to infer weaknesses.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Quan An, Shuo Cheng, Chenfeng Li, Liang Li, Haonan Peng
Summary: The paper introduces a novel two-agent non-cooperative game framework to address the coordination of trajectory following control and lateral stability control for Autonomous Ground Vehicles. Control strategies based on game theory are proposed and tested through simulations and experiments. Additionally, a Linear Parameter-Varying method is used to facilitate the process of discretizing the state-space model.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)