abstract: 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 ...

In this work, two high order sliding mode observers under cascade form are proposed in order to estimate the important states and inputs affecting the lateral dynamics of twowheeled vehicles. The first observer is based on a vision system and is used to estimate the lateral velocity of the vehicle. This velocity is considered as an additional measure for the second observer which is designed to...

In this paper, we present the development of a tire rubber deformation sensing system that provides the critical information for understanding and estimation of wheel/ground interactions for mobile robots and vehicles. Polyvinylidene fluoride (PVDF)based sensors are designed and fabricated to embed on the inner tread surface to measure the tire rubber tread deformation. Analytical models of the...

An approach to estimate the tire{road friction during normal drive using only the wheel slip, that is, the relative diierence in wheel velocities, is presented. The driver can be informed about the maximal friction force and be alarmed for sudden changes. Friction related parameters are estimated using only signals from standard sensors in a modern car, and the physical relation between these p...

To improve the real-time performance of estimation method road friction coefficient (RFC) based on moving horizon (MHE), a hierarchical for RFC combining single-step MHE (S-MHE) and inverse tire model (ITM) lateral vehicle dynamics is proposed in this study. Firstly, framework designed to decouple systems. Secondly, S-MHE estimator nonlinear estimate force. Thirdly, ITM deduced Pacejka model, d...

To ensure safe and stable drilling operation, bottom hole pressure (BHP) should be kept within some region. However measurement of the BHP is sometimes not available or reliable, especially when the circulation is low, e.g., during pipe connection procedures. This paper presents the application of a moving horizon estimation (MHE) method for online estimation of the BHP during petroleum drillin...

244 gallbladder. Like smooth mnscle, canalicular bile tlow is energy dependent. Agents tltat alter the antot, nt of ATI' in the cell sap have a similar effect on bile tlow rate. The rate of bile flow is modulated b)' a hormotte-receptor interaction attalogous to tire contraction-relaxation c)'cle of smooth muscle in which cAMI' and Ca + + are tire chief determinants. The same determinants are t...