In model predictive control (MPC), the current control action is determined by solving on-line, at each sampling instant, a finite horizon open-loop optimal control problem. Each optimization yields an optimal control sequence and the first control in the sequence is applied to the plant until the next sampling instant. As MPC does not mandate that the control law be pre-computed, it is particu...

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehi...

This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a class of underactuated aerial systems. Two control methods are developed: coordinate-based and coordinate-free which are both generally applicable to aerial manipulat...

Based on the multibody dynamics model of Electric Power Steering System(EPS) and the lateral and longitudinal dynamics vehicle model, the EPS and Anti-lock Braking System (ABS) sub-controllers and the coordination controller are respectively designed according to the motion coupling relation between the steering system and the braking system. The coordination controller supervises and coordinat...

In this paper, we propose a method to analyze the longitudinal dynamics of heterogeneous connected vehicle systems including human-driven vehicles and vehicles driven by connected cruise control. Human reaction time and digital sampling time are incorporated in the models. Conditions of plant stability and head-to-tail string stability are presented.

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

The Vehicle Dynamics Library is a commercial Modelica library for vehicle dynamics applications. This paper highlights recent development with focus on extended usability. Key changes are improved interoperability with other tools, improved simulation performance, extended vehicle system simulation, and expanded analysis. Examples are given from efficient simulation of drivelines, development o...