In this work, an optimal control scheme with adaptive weighting coefficients is presented which coordinates different vehicle dynamics control objectives, thus ruling out possible conflicts among them. In a new approach, the weighting coefficients in optimal control are adjusted according to the vehicle state in the phase plane in such a way that a priority is given to each objective of handlin...

Comparison of static and dynamic control allocation techniques for nonlinear constrained optimal distribution of tire forces in a vehicle control system is presented. The total body forces and moments, obtained from a high level controller, are distributed among tire forces, which are constrained to nonlinear constraint of saturation, through two approaches. For the static control allocation te...

A key obstacle in the growth of unmanned vehicle operations is the number of operators required to supervise and control an unmanned vehicle. New unmanned vehicle CONOPS call for an individual or small groups of tightly integrated operators to control several vehicles simultaneously. This push to invert the classic operator/vehicle ratio cannot be achieved solely by increasing the intelligence ...

Flying insects are able to navigate complex and highly dynamic environments, can rapidly change their flight speeds and directions, are robust to environmental disturbances, and are capable of long migratory flights. However, flying robots at similar scales have not yet demonstrated these characteristics autonomously. Recent advances in mesoscale manufacturing, novel actuation, control, and cus...

Authors: Werner Kober, Martin Ehmann and Torsten Butz The increasing number of vehicle dynamics control systems in modern vehicles requires a fully integrated concept, which considers the different controller functions and adjusts them with respect to each other. The modelbased development and the verification of the global chassis controller of Magna Steyr is presented with reference to the co...

The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment...

The project E-Vectoorc (Electric Vehicle Control of Individual Wheel Torque for Onand Off-Road Conditions) targets the development of an integrated controller for vehicle dynamics and energy efficiency for fully electric vehicles with one to four electric motors. The project is funded within the 7th European Union Framework Programme and unites two OEMs (Jaguar Land Rover, Skoda Auto), one supp...

In this paper an experimental platform developed for the ESPRIT project MARIE is described. The vehicle has an automobile-like kinematics and is fitted with a control computer and ultra-sonic sensors. The control software has a layered, modular structure and standardized interfaces, suitable for an experimental platform. The principal software modules and the experiments performed to test the i...

The present final report is in response to the contractual requirements of the Memorandum Of Understanding MOU#97, provided to the University of Southern California (USC) by the Partners for Advanced Transit and Highways (PATH) administered at the University of California, Berkeley. The goal of this effort is to devise and analyze an integrated Physical/Link-Access Layer Model of Packet Radio A...