Predictive approach to torque vectoring based on the Koopman operator

Author(s):  
Marko Svec ◽  
Sandor Iles ◽  
Jadranko Matusko
2017 ◽  
Author(s):  
Arpita Yadav ◽  
Dasari L V K Prasad ◽  
Veejendra Yadav

<p>The torquoselectivity, the inward or outward ring opening of 3-substituted cyclobutenes, is conventionally guided by the donor and/or acceptor ability of the substituent (S). It is typically predicted by estimating the respective ring opening transition state (TS) barriers. While there is no known dissent in regard to the outward rotation of electron-rich substituents from the approaches of TS calculations, the inward rotation was predicted for some electron-accepting substituents and outward for others. To address this divergence in predicting the torquoselectivity, we have used reliable orbital descriptors through natural bond orbital theoretical calculations and demonstrated that (a) interactions <i>n</i><i><sub>S</sub></i>→s*<sub>C3C4</sub> for a lone pair containing substituent, s<sub>S</sub>→s*<sub>C3C4</sub> for a s-donor substituent, s<sub>C3C4</sub>→p*<sub>S</sub> for a resonance-accepting substituent and s<sub>C3C4</sub>→s*<sub>S</sub> for a s-acceptor substituent constitute the true electronic controls of torquoselectivity, and (b) reversibility of the ring opening event is an additional important contributor to the observed product distribution.</p>


2020 ◽  
Vol 53 (2) ◽  
pp. 16840-16845
Author(s):  
Camilo Garcia-Tenorio ◽  
Mihaela Sbarciog ◽  
Eduardo Mojica-Nava ◽  
Alain Vande Wouwer

2020 ◽  
Vol 53 (2) ◽  
pp. 1169-1174
Author(s):  
Keita Hara ◽  
Masaki Inoue ◽  
Noboru Sebe
Keyword(s):  

Author(s):  
Mingcong Cao ◽  
Chuan Hu ◽  
Rongrong Wang ◽  
Jinxiang Wang ◽  
Nan Chen

This paper investigates the trajectory tracking control of independently actuated autonomous vehicles after the first impact, aiming to mitigate the secondary collision probability. An integrated predictive control strategy is proposed to mitigate the deteriorated state propagation and facilitate safety objective achievement in critical conditions after a collision. Three highlights can be concluded in this work: (1) A compensatory model predictive control (MPC) strategy is proposed to incorporate a feedforward-feedback compensation control (FCC) method. Based on the definite physical analysis, it is verified that adequate reverse steering and differential torque vectoring render more potentials and flexibility for vehicle post-impact control; (2) With compensatory portions, the deteriorated states after a collision are far beyond the traditional stability envelope. Hence it can be further manipulated in MPC by constraint transformation, rather than introducing soft constraints and decreasing the control efforts on tracking error; (3) Considering time-varying saturation on input, input rate, and slip ratio, the proposed FCC-MPC controller is developed to improve faster deviation attenuation both in lateral and yaw motions. Finally two high-fidelity simulation cases implemented on CarSim-Simulink conjoint platform have demonstrated that the proposed controller has the advanced capabilities of vehicle safety improvement and better control performance achievement after severe impacts.


Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 949
Author(s):  
Keita Hara ◽  
Masaki Inoue

In this paper, we address the data-driven modeling of a nonlinear dynamical system while incorporating a priori information. The nonlinear system is described using the Koopman operator, which is a linear operator defined on a lifted infinite-dimensional state-space. Assuming that the L2 gain of the system is known, the data-driven finite-dimensional approximation of the operator while preserving information about the gain, namely L2 gain-preserving data-driven modeling, is formulated. Then, its computationally efficient solution method is presented. An application of the modeling method to feedback controller design is also presented. Aiming for robust stabilization using data-driven control under a poor training dataset, we address the following two modeling problems: (1) Forward modeling: the data-driven modeling is applied to the operating data of a plant system to derive the plant model; (2) Backward modeling: L2 gain-preserving data-driven modeling is applied to the same data to derive an inverse model of the plant system. Then, a feedback controller composed of the plant and inverse models is created based on internal model control, and it robustly stabilizes the plant system. A design demonstration of the data-driven controller is provided using a numerical experiment.


Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1291
Author(s):  
Balázs Németh

The paper proposes a novel learning-based coordination strategy for lateral control systems of automated vehicles. The motivation of the research is to improve the performance level of the coordinated system compared to the conventional model-based reconfigurable solutions. During vehicle maneuvers, the coordinated control system provides torque vectoring and front-wheel steering angle in order to guarantee the various lateral dynamical performances. The performance specifications are guaranteed on two levels, i.e., primary performances are guaranteed by Linear Parameter Varying (LPV) controllers, while secondary performances (e.g., economy and comfort) are maintained by a reinforcement-learning-based (RL) controller. The coordination of the control systems is carried out by a supervisor. The effectiveness of the proposed coordinated control system is illustrated through high velocity vehicle maneuvers.


Author(s):  
James Deery

AbstractFor some, the states and processes involved in the realisation of phenomenal consciousness are not confined to within the organismic boundaries of the experiencing subject. Instead, the sub-personal basis of perceptual experience can, and does, extend beyond the brain and body to implicate environmental elements through one’s interaction with the world. These claims are met by proponents of predictive processing, who propose that perception and imagination should be understood as a product of the same internal mechanisms. On this view, as visually imagining is not considered to be world-involving, it is assumed that world-involvement must not be essential for perception, and thus internalism about the sub-personal basis is true. However, the argument for internalism from the unity of perception and imagination relies for its strength on a questionable conception of the relationship between the two experiential states. I argue that proponents of the predictive approach are guilty of harbouring an implicit commitment to the common kind assumption which does not follow trivially from their framework. That is, the assumption that perception and imagination are of the same fundamental kind of mental event. I will argue that there are plausible alternative ways of conceiving of this relationship without drawing internalist metaphysical conclusions from their psychological theory. Thus, the internalist owes the debate clarification of this relationship and further argumentation to secure their position.


Author(s):  
Sian Wen ◽  
Andy Chen ◽  
Tanishq Bhatia ◽  
Nicholas Liskij ◽  
David Hyde ◽  
...  

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