Performance of the Virgo interferometer longitudinal control system during the second science run

This paper presents the design and experimental implementation of a longitudinal control system for the operation of automated vehicles in platoons. The control system on each vehicle is designed to have a hierarchical structure and consists of an upper level controller and a lower level controller. The upper controller determines the desired acceleration for each vehicle in the platoon so as to maintain safe string-stable operation even at very small intervehicle spacing. The lower controller utilizes vehicle-specific parameters and determines the throttle and/or brake commands required to track the desired acceleration. A special challenge handled in the design of the lower level controller is low-speed operation that involves gear changes and torque converter dynamics. The paper also presents the design of longitudinal intra-platoon maneuvers that are required in order to allow any car in the platoon to make an exit. The paper presents extensive experimental results from the public NAHSC demonstration of automated highways conducted in August 1997 at San Diego, California. The demonstration included an eight-car platoon operating continuously over several weeks with passenger rides given to over a thousand visitors. The maneuvers demonstrated included starting the automated vehicles from complete rest, accelerating to cruising speed, allowing any vehicle to exit from the platoon, allowing new vehicles to join the platoon and bringing the platoon to a complete stop at the end of the highway. [S0022-0434(00)01903-1]

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Implementation and vehicle tests of a vehicle stop-and-go cruise control system

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1243/095440702760178479 ◽

2002 ◽

Vol 216 (7) ◽

pp. 537-544 ◽

Cited By ~ 13

Author(s):

K Yi ◽

N Ryu ◽

H J Yoon ◽

K Huh ◽

D Cho ◽

...

Keyword(s):

Control System ◽

Control Algorithm ◽

Speed Control ◽

Step Motor ◽

Cruise Control ◽

Longitudinal Control ◽

Linear Quadratic Optimal Control ◽

Millimetre Wave ◽

Stop And Go ◽

Wave Radar

Implementation and vehicle tests of a vehicle longitudinal control algorithm for stop-and-go cruise control have been performed. The vehicle longitudinal control scheme consists of a set-speed control algorithm, a speed control algorithm, and a distance control algorithm. A desired acceleration for the vehicle for the control of vehicle-to-vehicle relative speed and clearance has been designed using linear quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. Vehicle tests have been conducted using two test vehicles. A 2000 cm3 passenger car equipped with a radar distance sensor, throttle/brake actuators and a controller has been used as a subject vehicle in the vehicle tests. A millimetre wave radar sensor has been used for distance measurement. A step motor and an electronic vacuum booster have been used for throttle/brake actuators. It has been shown that the implemented vehicle longitudinal control system can provide satisfactory performance in vehicle set-speed control and vehicle clearance control at lower speeds.

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Multiple Fault Diagnosis as Applied to Automated Vehicle Control

10.1115/imece1999-0083 ◽

1999 ◽

Author(s):

Adam S. Howell ◽

J. Karl Hedrick

Keyword(s):

Control System ◽

Diagnostic System ◽

Vehicle Control ◽

Longitudinal Control ◽

Multiple Faults ◽

Automated Vehicle ◽

Multiple Fault Diagnosis ◽

System Components ◽

Automated Vehicle Control ◽

Residual Processing

Abstract This paper addresses the problem of detecting multiple faults for the longitudinal control system of an automated vehicle. An existing fault diagnostic system which can isolate all single faults is extended to the diagnosis of multiple faults via improved residual processing in the form of fuzzy logic. The new diagnostic system is shown to correctly detect and isolate all single and multiple faults in a subset of the automated vehicle control system components.

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The Development of a Longitudinal Control System for a Sports-Utility-Vehicle

Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems ◽

10.1115/detc2013-12048 ◽

2013 ◽

Author(s):

Herman Hamersma ◽

Schalk Els

Keyword(s):

Mathematical Model ◽

Control System ◽

Lateral Acceleration ◽

Longitudinal Control ◽

Test Vehicle ◽

Acceleration Vector ◽

Land Rover ◽

Simulation Results ◽

Utility Vehicle ◽

High Center

A common problem with sports-utility-vehicles is the low rollover threshold, due to a high center of gravity. Instead of modifying the vehicle to increase the rollover threshold, the aim of the control system is to prevent the vehicle from exceeding speeds that would cause the vehicle to reach its rollover threshold. The aim of the autonomous longitudinal control system, discussed here, is to improve the vehicle’s safety by controlling the vehicle’s longitudinal behavior. In order to develop a control system that autonomously controls the longitudinal degree of freedom, an experimentally validated mathematical model of the test vehicle (a 1997 Land Rover Defender 110 Wagon) was used — the model was developed in MSC.ADAMS/View. The control system was developed by generating a reference speed that the vehicle must track. This reference speed was formulated by taking into account the vehicle’s limits due to lateral acceleration, combined lateral and longitudinal acceleration and the vehicle’s performance capabilities. The MSC.ADAMS/View model of the test vehicle was used to evaluate the performance of the control system on various racetracks for which the GPS coordinates were available. The simulation results indicate that the control system performed as expected by limiting the vehicle’s acceleration vector to the prescribed limits.

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Longitudinal Control of Automated Guideway Transit Vehicles Within Platoons

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3426382 ◽

1978 ◽

Vol 100 (4) ◽

pp. 302-310 ◽

Cited By ~ 66

Author(s):

S. E. Shladover

Keyword(s):

Control System ◽

Asymptotic Stability ◽

Nonlinear Effects ◽

Longitudinal Control ◽

Describing Functions

This paper demonstrates, via analysis and simulation, the feasibility of a vehicle-follower control system which maintains intervehicular spacings of 30–60 cm within platoons of automated guideway transit (AGT) vehicles. Asymptotic stability of the platoon is shown to be achievable when each vehicle references its speed to that of the platoon leader. Jerk limiting, which is regarded as essential for all AGT longitudinal controllers, is shown to be potentially destabilizing. The nonlinear effects produced by the jerk limiter are analyzed by use of describing functions, and it is demonstrated how the undesirable effects can be avoided.

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LONGITUDINAL CONTROL SYSTEM FOR HIGH-SPEED AIRCRAFT

10.4271/480181 ◽

1948 ◽

Author(s):

Harold O. Wendt

Keyword(s):

Control System ◽

High Speed ◽

Longitudinal Control

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Design of Missile Longitudinal Control System Based on Backstepping Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.496-500.1401 ◽

2014 ◽

Vol 496-500 ◽

pp. 1401-1406

Author(s):

Mei Hong Li ◽

Jian Yin ◽

Xue Yang Sun ◽

Jin Xiang Xu ◽

Mei Mei Zhang

Keyword(s):

Control System ◽

Control Method ◽

Input Saturation ◽

Lyapunov Stability Theory ◽

Feedback System ◽

Backstepping Control ◽

Control Input ◽

Backstepping Method ◽

Longitudinal Control ◽

And Control

Missile control system is not block strict feedback system which is suitable to use backstepping method. So in this paper, a backstepping control method is proposed to design a missile longitudinal autopilot and is proved to be asymptotically stable by Lyapunov stability theory. The simulation results show that the designed system can still track commands quickly and accurately and is robust with aerodynamic perturbation and control input saturation.

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