A new optimal control strategy for dealing with braking actuator failures in a vehicle equipped with a brake-bywire and steer-bywire system is described. The main objective of the control algorithm during the failure mode is to redistribute the control tasks to the functioning actuators, so that the vehicle performance remains as close as possible to the desired performance in spite of a failur...

The main objective of the proposed research is to improve various stability and handling qualities (such as Roll Over stability, Lane Change maneuver stability etc) of military, off road, unmanned multi-body ground vehicles within as wide operating envelope as possible under the presence of uncertainty in vehicle model parameters as well as under various sensor, actuator and component faults. A...

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude dynamics, a geometric nonlinear adaptive controller is developed directly on the special Euclidean group. In particular, a new form of an adaptive control term is pr...

A control design to stabilise a reduced scale autonomous helicopter equipped with a camera is presented. The proposed algorithm is motivated by recent work in image-based visual servoing control for under-actuated dynamic systems. This work is extended by considering models that contain weakly nonminimum phase zero dynamics. This is an important class of systems since an o set between the camer...

in recent years, more attention has been paid on intelligent vehicle suspension systems equipped with magneto-rheological dampers. in order to investigate nonlinear vehicle dynamics, in the majority of the researches, a quarter-car model with one or two degrees of freedom is used. in such simple models, one can only study the bounce motion of sprung and unsprung masses. in this paper, in order ...

Direct Yaw moment Control systems (DYC) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the Control Yaw Moment (CYM). In order to achieve the superior control performance, intelligent usage of lateral forces is also required. The lateral wheel forces have an indirect effect on the CYM and based upon their directio...

This work addresses the control allocation problem for a nonlinear over-actuated time-varying system where parameters a¢ ne in the actuator dynamics and actuator force model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation....

For automotive manufacturers and tier-1 suppliers, the upcoming safety standard ISO 26262 results in new requirements for the development of embedded electronics and software. In particular, the variety of driver assistance systems that autonomously influence the driving dynamics of a vehicle may have a high risk potential and require development in accordance with the normative guidelines. But...

The estimation of road excitation profile is important for evaluation of vehicle stability and vehicle suspension performance for autonomous vehicle control systems. In this work, the nonlinear dynamics of the active automotive system that is excited by the unknown road excitation profile are considered for modeling. To address the issue of estimation of road profile, we develop an adaptive sup...