The paper presents a global chassis control (GCC) optimization approach using a gradient-based optimal control algorithm. The goal is to find optimal actions of various actuators such as active steering and active differential, which ensure satisfying the optimization criterion (e.g. trajectory following error minimization) subject to different equality and inequality constraints on state and c...

The GRACE Follow-On satellites will use, for the first time, a Laser Ranging Interferometer to measure intersatellite distance changes from which fluctuations in Earth's geoid can be inferred. We have investigated the beam steering method that is required to maintain the laser link between the satellites. Although developed for the specific needs of the GRACE Follow-On mission, the beam steerin...

Differential geometry is becoming increasingly used in industrial production. It has been transformed to industrial methods concerning with its mathematical theories, and been applied in many industrial control systems. We present a comprehensive study from various domains. At first, as to the domain of chaotic system, we take Lorenz and Rossler as examples, use differential geometric method an...

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels because they can perform 3-DOF motions on a plane. This paper presents a novel mobile robot design with steerable omnidirectional wheels. This robot can operate in either omnidirectional or differential drive modes, depending on the drive conditions. In the omnidirect...

In this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. In the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CV...

The piezoelectric actuator (PEA) is a well-known device for managing extremely small displacements in the range from 10 pm (1 pm = 10 12 m) to 100 m. When developing a control system for a piezo-actuated positioning mechanism, the actuator dynamics have to be taken into account. An electromechanical piezo model, based on physical principles, is presented in this paper. In this model, a first-or...

Previously we derived a new measure relating the driver's steering wheel responses to the vehicle's heading error velocity. This measure, the relative steering wheel compensation (RSWC), changes at times coincident with an alerting stimulus, possibly representing shifts in control strategy as measured by a change in the gain between visual input and motor output. In the present study, we sought...

Steering has more potential than braking to prevent rear-end collisions at higher relative velocities. A path tracking controller based on multi-input multi-output (MIMO) model predictive control (MPC) is proposed enhance the handling performance of autonomous emergency steering in this paper. six-state MIMO bicycle including actuator dynamics and differential used for prediction. Two inputs ar...

Abstract: The electronic differential system (EDS) is an important issue for four-wheel drive electric vehicles. This paper delineates an advanced EDS steering strategy and carries out a careful study of its control performance by numerical simulations that comply with the requirements of ISO4238:2012. The results demonstrate that the EDS feedback gain plays an important role to its control per...

Coherently coupled vertical-cavity surface-emitting laser arrays offer unique advantages for nonmechanical beam steering applications. We have applied dynamic coupled mode theory to show that the observed temporal phase shift between vertical-cavity surface-emitting array elements is caused by the detuning of their resonant wavelengths. Hence, a complete theoretical connection between the diffe...