Article
Engineering, Mechanical
Guang Xia, Jiacheng Li, Xiwen Tang, Yang Zhang, Jinfang Hu
Summary: By utilizing a hydraulic support cylinder and zero moment point technology, this paper successfully divides the forklift rollover process into different stages and proposes corresponding control strategies to effectively prevent rollover accidents during high-speed steering.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
(2021)
Article
Automation & Control Systems
Marvin Jung, Paulo Renato da Costa Mendes, Magnus oennheim, Emil Gustavsson
Summary: The prediction model plays a vital role in MPC strategies as its accuracy directly impacts the quality of predictions and control performance. In cases where a model based on physical equations is not available or difficult to obtain all parameters, using black-box models within the MPC framework is an attractive alternative, as they only require input and output data. This paper discusses questions such as the feasibility of using LSTM as predictors, implementation methods, computation of derivatives, recommended solvers and tools, and ensuring real-time capability.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2023)
Article
Energy & Fuels
Dongmei Wu, Quan Yuan, Changqing Du, Fuwu Yan, Yang Li
Summary: This paper proposes a novel optimization method with dynamic weight factors based on road classification for the predictive cruise control system of 4WD electric vehicles. The simulation results show that this method can improve the adaptability and energy-saving performance of PCC on different types of roads.
Article
Engineering, Electrical & Electronic
Ping Wang, Xiyue Zhang, Jianpeng Shi, Bin Gou, Lin Zhang, Hong Chen, Yunfeng Hu
Summary: This paper proposes an MPC-based control strategy to prevent vehicle rollover during high-speed driving. By considering tire force saturation and real-time rollover index, the control region is divided into different stability regions. State constraints are set based on driver behavior and road conditions to improve overall vehicle performance.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Electrical & Electronic
Peng Hang, Xin Xia, Guang Chen, Xinbo Chen
Summary: This research focuses on the collaborative control of four-wheel steering and direct yaw-moment control to enhance the active safety performance of automated electric vehicles. The study applies tube-based model predictive control to deal with disturbance and modeling error, and successfully designs an integrated controller that improves handling stability and path-tracking performance. Experimental tests prove the effectiveness and robustness of the integrated controller under extreme driving conditions.
IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION
(2022)
Article
Engineering, Marine
Cheng Liu, Ting Sun, Qizhi Hu
Summary: This paper presents a novel synchronization controller based on model predictive control (MPC) for dynamic positioning (DP) ships to achieve underway replenishment. The controller ensures synchronization of position, orientation, and velocities, handles control input constraints, improves computational efficiency, and stability by incorporating a terminal cost function from the Lyapunov equation. Extensive simulations demonstrate the effectiveness and advantages of the proposed control design.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Automation & Control Systems
Marko Svec, Sandor Iles, Jadranko Matusko
Summary: In this article, a predictive algorithm for direct yaw moment control (DYC) based on the Koopman operator is proposed. A linear predictor, the Koopman operator, is used to identify the vehicle model by approximating it with a finite-dimensional approach. A novel method called enhanced extended dynamic mode decomposition ((EDMD)-D-2) is introduced for the numerical approximation of the Koopman operator, allowing the reduction of basis dimension and balancing model complexity and accuracy. The developed Koopman operator model predictive control (KMPC) algorithm outperforms linear time variant (LTV) and nonlinear model predictive control (NMPC) algorithms in terms of performance and computational complexity reduction.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Chemistry, Analytical
Yong Dai, Duo Wang
Summary: This paper proposes a novel algorithm that combines robust sliding mode control (SMC) and tube model predictive control (MPC) to enhance the lateral path tracking control of autonomous vehicles (AV) in the presence of external disturbances. The proposed algorithm leverages the strengths of both MPC and SMC to achieve robustness and tracking accuracy, especially in the presence of unmodelled uncertainties and external disturbances.
Article
Automation & Control Systems
Jiangtao Ma, Yan Song, Yin Niu, Yuying Dong
Summary: This paper investigates the security-based fuzzy model predictive control (FMPC) problem for a class of discrete-time Takagi-Sugeno (T-S) fuzzy systems with deception attacks on the measured outputs. The dynamic output-feedback control in the framework of FMPC is adopted, and the worst-case optimization problem over the infinite moving horizon is formulated for performance analysis and control synthesis. The non-convexity caused by couplings between decisive variables is handled using the quadratic function approach and the singular value decomposition technique.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Computer Science, Artificial Intelligence
Dongran Song, Ziqun Li, Xiaofei Deng, Mi Dong, Lingxiang Huang, Jian Yang, Mei Su, Younghoon Joo
Summary: Because wind direction is time-varying, yaw is a common state of wind turbines. To improve energy capture and reduce the usage of yaw actuators, a Model Predictive Control (MPC) method based on Fuzzy Deduction Weight Coefficient Evaluator (FDWE) is proposed. The FDWE dynamically adjusts the weight coefficient connecting the objectives of energy capture loss ratio and yaw actuator usage ratio in MPC based on predicted wind direction. Three different strategies are proposed to optimize the fuzzy rule and membership function as part of this complex optimization problem. The results show that the optimized FDWE-MPC using these strategies improves energy capture and reduces yaw actuator usage, indicating promise in reducing production costs for wind turbines.
EXPERT SYSTEMS WITH APPLICATIONS
(2023)
Article
Energy & Fuels
Yeon-Pyeong Jo, Mohammed Saad Faizan Bangi, Sang-Hwan Son, Joseph Sang-Il Kwon, Sung-Won Hwang
Summary: This paper discusses the importance of liquefied natural gas (LNG) as an eco-friendly fuel source in the ocean industry and proposes the use of a model predictive control (MPC) system to regulate LNG tank pressure. The research shows that the offset-free MPC system is able to effectively control pressure, even in abnormal circumstances such as fire accidents.
Article
Automation & Control Systems
Chuanbin Sun, Zhangbao Xu, Shuchao Deng, Baohong Tong
Summary: An active rear steering and direct yaw moment (ARS-DYC) coordination control, based on nonlinear fuzzy observation, is proposed to improve the yaw and roll stability control of vehicles under extreme conditions. By accurately observing the sideslip angle, yaw rate, and roll state, the proposed control strategy effectively enhances the vehicle's stability during extreme steering maneuvers.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Engineering, Mechanical
Peikun Sun, Annika Stensson Trigell, Lars Drugge, Jenny Jerrelind
Summary: This study proposes a control method that combines DYC for energy-efficiency and DYC for stability to improve energy efficiency and stability of electric vehicles during turning maneuvers. By using DYC for energy efficiency during non-safety-critical cornering and combining DYC for energy efficiency with DYC for stability during cornering maneuvers containing both non-safety-critical and safety-critical parts, energy savings of 12% to 18% can be achieved.
VEHICLE SYSTEM DYNAMICS
(2022)
Article
Automation & Control Systems
Davi A. Santos, Constantino M. Lagoa
Summary: This paper investigates the wayset-based guidance of underactuated multirotor aerial vehicles (MAVs). A hierarchical guidance and control structure is established to achieve the visiting and resting of the MAV in each wayset while ensuring stability and control constraints. A robust model predictive control (MPC) method based on fixed-horizon tube is used for the outer-loop guidance design, and the feasibility and stability of the overall guidance method are analyzed.
Article
Engineering, Mechanical
Yonghwan Jeong
Summary: This paper presents an integrated controller for an autonomous articulated electric vehicle (AAEV) to improve path tracking and prevent rollover. The AAEV, which has an articulated frame steering (AFS) mechanism, is susceptible to rollover due to its lack of front wheel steering and high height-to-track width ratio. The proposed controller aims to achieve path following and manage velocity to enhance the safety of the AAEV. A kinematic model with actuation delay is used to model the vehicle behavior, and a local linearization approach is employed to improve accuracy and reduce computation load. A model predictive control (MPC)-based reference state tracker is designed to optimize articulation angle rate and longitudinal acceleration commands. Simulation results demonstrate that the proposed algorithm reduces path tracking error and load-transfer ratio.
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)
