A Computationally Efficient Predictive Controller for Lane Keeping of Semi-Autonomous Vehicles

2014 ◽  
Author(s):  
Changchun Liu ◽  
Chankyu Lee ◽  
Andreas Hansen ◽  
J. Karl Hedrick ◽  
Jieyun Ding
Keyword(s):  
Autonomous Vehicles ◽  
Piecewise Linear ◽  
Computational Cost ◽  
Parametric Programming ◽  
Linear Feedback ◽  
Loop Model ◽  
Computationally Efficient ◽  
Feedback Function ◽  
Predictive Controller ◽  
Lane Keeping

Model predictive control (MPC) is a popular technique for the development of active safety systems. However, its high computational cost prevents it from being implemented on lower-cost hardware. This paper presents a computationally efficient predictive controller for lane keeping assistance systems. The controller shares control with the driver, and applies a correction steering when there is a potential lane departure. Using the explicit feedback MPC, a multi-parametric nonlinear programming problem with a human-in-the-loop model and safety constraints is formulated. The cost function is chosen as the difference between the linear state feedback function to be determined and the resultant optimal control sequence of the MPC problem solved off-line given the current state. The piecewise linear feedback function is obtained by solving the parametric programming with an approximation approach. The effectiveness of the controller is evaluated through numerical simulations.

Computationally Efficient Urea-Dosing Controllers for Urea-SCR

2020 ◽  
Author(s):  
Rajakumar Ganne ◽  
Kaushal K. Jain ◽  
Peter H. Meckl ◽  
Harshil Angre ◽  
Jagdish R. Hiremath
Keyword(s):  
Computational Cost ◽  
Computationally Efficient ◽  
Trade Off ◽  
Model Based ◽  
Control Objective ◽  
Predictive Controller ◽  
Simulation Results ◽  
Scr System

Abstract This paper presents two non-model-based reference-shaping and a model-based predictive urea-dosing controller for the Urea-SCR system. An ideal urea-dosing controller would minimize both tailpipe NOx and NH3 slip. However, this is not possible because of the trade-off between deNOx and NH3 slip. This trade-off is used to clearly define a control objective in terms of NH3 slip. Three controllers are then developed to meet this control objective such that they are all computationally inexpensive. The three controllers are then tested for three very different drive cycles. Simulation results show that the performance of the non-model based reference-shaping controllers is subjected to manual tuning of their variables. In contrast, the predictive controller, which is the highlight of this paper, can adapt to various drive cycles without compromising on the computational cost.

scholarly journals Compressed pseudo-SLAM: pseudorange-integrated compressed simultaneous localisation and mapping for unmanned aerial vehicle navigation

2021 ◽  
pp. 1-13
Author(s):  
Jonghyuk Kim ◽  
Jose Guivant ◽  
Martin L. Sollie ◽  
Torleiv H. Bryne ◽  
Tor Arne Johansen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Computational Cost ◽  
Satellite System ◽  
Measurement Unit ◽  
Electronic Systems ◽  
Computationally Efficient ◽  
Global Correlation ◽  
Aerial Vehicle ◽  
Correlation Information ◽  
Global Navigation Satellite

Abstract This paper addresses the fusion of the pseudorange/pseudorange rate observations from the global navigation satellite system and the inertial–visual simultaneous localisation and mapping (SLAM) to achieve reliable navigation of unmanned aerial vehicles. This work extends the previous work on a simulation-based study [Kim et al. (2017). Compressed fusion of GNSS and inertial navigation with simultaneous localisation and mapping. IEEE Aerospace and Electronic Systems Magazine, 32(8), 22–36] to a real-flight dataset collected from a fixed-wing unmanned aerial vehicle platform. The dataset consists of measurements from visual landmarks, an inertial measurement unit, and pseudorange and pseudorange rates. We propose a novel all-source navigation filter, termed a compressed pseudo-SLAM, which can seamlessly integrate all available information in a computationally efficient way. In this framework, a local map is dynamically defined around the vehicle, updating the vehicle and local landmark states within the region. A global map includes the rest of the landmarks and is updated at a much lower rate by accumulating (or compressing) the local-to-global correlation information within the filter. It will show that the horizontal navigation error is effectively constrained with one satellite vehicle and one landmark observation. The computational cost will be analysed, demonstrating the efficiency of the method.

Hybrid LES Approach for Practical Turbomachinery Flows—Part I: Hierarchy and Example Simulations

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
Paul Tucker ◽  
Simon Eastwood ◽  
Christian Klostermeier ◽  
Richard Jefferson-Loveday ◽  
James Tyacke ◽  
...  
Keyword(s):  
Convex Surface ◽  
Computational Cost ◽  
Companion Paper ◽  
Navier Stokes ◽  
Computationally Efficient ◽  
Turbulent Structures ◽  
Hybrid Strategy ◽  
Eddy Simulation ◽  
Related Approach ◽  
Les Model

Unlike Reynolds-averaged Navier–Stokes (RANS) models that need calibration for different flow classes, LES (where larger turbulent structures are resolved by the grid and smaller modeled in a fashion reminiscent of RANS) offers the opportunity to resolve geometry dependent turbulence as found in complex internal flows—albeit at substantially higher computational cost. Based on the results for a broad range of studies involving different numerical schemes, large eddy simulation (LES) models and grid topologies, an LES hierarchy and hybrid LES related approach is proposed. With the latter, away from walls, no LES model is used, giving what can be termed numerical LES (NLES). This is relatively computationally efficient and makes use of the dissipation present in practical industrial computational fluid dynamics (CFD) programs. Near walls, RANS modeling is used to cover over numerous small structures, the LES resolution of which is generally intractable with current computational power. The linking of the RANS and NLES zones through a Hamilton–Jacobi equation is advocated. The RANS-NLES hybridization makes further sense for compressible flow solvers, where, as the Mach number tends to zero at walls, excessive dissipation can occur. The hybrid strategy is used to predict flow over a rib roughened surface and a jet impinging on a convex surface. These cases are important for blade cooling and show encouraging results. Further results are presented in a companion paper.

An Efficient Preconditioner for Linear System Solution in Multi-Domain Modeling of the Circulatory System

2013 ◽  
Author(s):  
Mahdi Esmaily Moghadam ◽  
Yuri Bazilevs ◽  
Tain-Yen Hsia ◽  
Alison Marsden
Keyword(s):  
Strong Coupling ◽  
Large Scale ◽  
Computational Cost ◽  
Circulatory System ◽  
Flow Simulation ◽  
Global Dynamics ◽  
Domain Modeling ◽  
Computationally Efficient ◽  
Lumped Parameter ◽  
System Solution

A closed-loop lumped parameter network (LPN) coupled to a 3D domain is a powerful tool that can be used to model the global dynamics of the circulatory system. Coupling a 0D LPN to a 3D CFD domain is a numerically challenging problem, often associated with instabilities, extra computational cost, and loss of modularity. A computationally efficient finite element framework has been recently proposed that achieves numerical stability without sacrificing modularity [1]. This type of coupling introduces new challenges in the linear algebraic equation solver (LS), producing an strong coupling between flow and pressure that leads to an ill-conditioned tangent matrix. In this paper we exploit this strong coupling to obtain a novel and efficient algorithm for the linear solver (LS). We illustrate the efficiency of this method on several large-scale cardiovascular blood flow simulation problems.

scholarly journals A computationally efficient physiologically comprehensive 3D–0D closed-loop model of the heart and circulation

2021 ◽  
Vol 386 ◽  
pp. 114092
Author(s):  
Christoph M. Augustin ◽  
Matthias A.F. Gsell ◽  
Elias Karabelas ◽  
Erik Willemen ◽  
Frits W. Prinzen ◽  
...  
Keyword(s):  
Closed Loop ◽  
Loop Model ◽  
Computationally Efficient

Characterization of Nonlinear Rattling Behavior of a Gear Pair Through a Validated Torsional Model

2021 ◽  
Author(s):  
Ata Donmez ◽  
Ahmet Kahraman
Keyword(s):  
Piecewise Linear ◽  
Nonlinear Behavior ◽  
Severity Index ◽  
System Response ◽  
Gear Pair ◽  
Computationally Efficient ◽  
Linear Solution ◽  
Set Up ◽  
The Impact ◽  
Gear Rattle

Abstract Dynamic response of a gear pair subjected to input and output torque or velocity fluctuations is examined analytically. Such motions are commonly observed in various powertrain systems and identified as gear rattle or hammering motions with severe noise and durability consequences. A reduced-order torsional model is proposed along with a computationally efficient piecewise-linear solution methodology to characterize the system response including its sensitivity to excitation parameters. Validity of the proposed model is established through comparisons of its predictions to measurements from a gear rattle experimental set-up. A wide array of nonlinear behavior is demonstrated through presentation of periodic and chaotic responses in the forms of phase plots, Poincaré maps, and bifurcation diagrams. The severity of the resultant impacts on the noise outcome is also assessed through a rattle severity index defined by using the impact velocities.

scholarly journals Computationally Efficient Sources Location Method for Nested Array via Massive Virtual Difference Co-Array

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 1961
Author(s):  
Wei Wu ◽  
Yunfei Wang ◽  
Xiaofei Zhang ◽  
Jianfeng Li
Keyword(s):  
Fourier Transform ◽  
Parametric Method ◽  
Computational Cost ◽  
Dft Method ◽  
Doa Estimation ◽  
Practical Implementation ◽  
Computationally Efficient ◽  
Virtual Sensors ◽  
Phase Rotation ◽  
Array Aperture

In this paper, we derive the discrete Fourier transform (DFT) method for direction of arrival (DOA) estimation by generating the massive virtual difference co-array with the nested array. By contrast with the spatial smoothing (SS) subspace-based methods for nested array, which halve the array aperture, the proposed method can take full advantage of the total array aperture. Since the conventional DFT method is a non-parametric method and is limited by Rayleigh threshold, we perform the phase rotation operation to obtain the fine DOA estimates. Owing to the full utilization of the array aperture and phase rotation operation, the proposed method can achieve better performance than SS subspace-based methods for far-field sources especially with massive virtual difference co-arrays which possess a large number of virtual sensors. Besides, as the fast Fourier transform (FFT) is attractive in practical implementation, the proposed method lowers the computational cost, as compared with the subspace-based methods. Numerical simulation results validate the superiority of the proposed method in both estimation performance and complexity.

scholarly journals Computationally Efficient Distributed Predictive Controller for Cascaded Multilevel Impedance Source Inverter With LVRT Capability

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 35731-35742 ◽  
Author(s):  
Mitchell Easley ◽  
Sarthak Jain ◽  
Mohammad B. Shadmand ◽  
Haitham Abu-Rub
Keyword(s):  
Computationally Efficient ◽  
Predictive Controller

H∞ control with look-ahead for lane keeping in autonomous vehicles

2017 ◽  
Author(s):  
F. Roselli ◽  
M. Corno ◽  
S. M. Savaresi ◽  
M. Giorelli ◽  
D. Azzolini ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Look Ahead ◽  
Lane Keeping
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