Study on Mechanical Automation with Optimal Control for Four-Wheel-Active-Steer Vehicle

2013 ◽  
Vol 703 ◽  
pp. 264-268 ◽  
Author(s):  
Feng Du ◽  
Zhi Wei Guan ◽  
Guang Hui Yan
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
Closed Loop ◽  
Response Characteristic ◽  
Loop System ◽  
Driver Model ◽  
Closed Loop System ◽  
Control Effect ◽  
Sideslip Angle ◽  
Active Steering

For improving the vehicle handling at high speed, an optimal controller was introduced for the four-wheel-active-steering vehicle. A closed-loop system was set up by combining vehicle model with driver model. The simulation test in the closed-loop system was carried out to verify control effect of such a optimum controller. Simulation results show that the four-wheel-active-steering vehicle under the optimal control can gain expected control effect such as wiping out sideslip angle and tracking desired yaw rate and so on. In addition, the four-wheel-active-steering vehicle with the optimal control can also track desired trajectory and its following accuracy is better than the traditional front-wheel steering vehicle. So, the steering response characteristic for the four-wheel-active-steering vehicle at high speed is improved.

A Study on the Effect of Driver Model Parameters on the Performance of Driver-Vehicle-Road Closed-Loop System

2013 ◽  
Vol 470 ◽  
pp. 604-608
Author(s):  
Li Zeng Zhang ◽  
Hsin Guan ◽  
Xin Jia ◽  
Ping Ping Lu ◽  
Yong Shang Chen
Keyword(s):  
Delay Time ◽  
Closed Loop ◽  
System Simulation ◽  
Lag Time ◽  
Loop System ◽  
Driver Model ◽  
Model Parameters ◽  
Closed Loop System

The concept of DODF and other two evaluation indices based on DODF were proposed. Based on the optimal preview acceleration driver model, the effect of driver model parameters on the performance of driver-vehicle-road closed-loop system was studied by the closed-loop system simulation. The results show that the preview time of a driver who has good driving habits should be always larger than a certain valueTP0, the increase of both nerve delay timetdand muscle lag timeThlead to the increase ofTP0, andtdhas more effect onTP0thanThdoes. The increase of bothtdandThlead to the decrease of DODF, andtdhas more effect on DODF thanThdoes. Furthermore, the increase of bothtdandThalso lead to the increase of both tracking indexJEMand driving load indexTCM,tdhas more effect onJEMthanThdoes, andThhas more effect onTCMthantddoes.

Simulation for Vehicle Handling Performance Based on the Cybernetic Model of “Driver-Vehicle-Road” Closed-Loop System

2011 ◽  
Vol 299-300 ◽  
pp. 1256-1261
Author(s):  
Hui He ◽  
Kun Zhang ◽  
Peng Wang
Keyword(s):  
Closed Loop ◽  
Steering System ◽  
Loop System ◽  
System Model ◽  
Driver Model ◽  
Closed Loop System ◽  
Cybernetic Model ◽  
Vehicle Performance ◽  
Vehicle Handling ◽  
Handling Performance

In this paper, a cybernetic model of “driver-vehicle-road” closed-loop system including a driver model and a steering system model is built under the MATLAB/Simulink environment. Then, the influence of different dynamic characteristics of steering system on vehicle handling and stability is studied. The results suggest that the “driver-vehicle” model built has a high tracking precision in following the path; Increasing the rigidity of steering system or decreasing the dilatory distance of front tire can enhance the tracking precision and can minish the driving burden and the fatalness of side-tip, the total evaluation result of vehicle performance will be optimized as well.

Compensator-based approximate optimal control for affine nonlinear systems with input constraints and unmatched disturbances

2020 ◽  
Vol 42 (15) ◽  
pp. 3024-3034
Author(s):  
Ke Lu ◽  
Chunsheng Liu ◽  
Jingliang Sun ◽  
Chunhua Li ◽  
Chengcheng Ma
Keyword(s):  
Optimal Control ◽  
Nonlinear Systems ◽  
Closed Loop ◽  
Control Method ◽  
Approximation Error ◽  
Loop System ◽  
Adaptive Dynamic Programming ◽  
Input Constraints ◽  
Closed Loop System ◽  
Additional Function

This paper develops a novel approximate optimal control method for a class of constrained continuous-time nonlinear systems in the presence of disturbances via adaptive dynamic programming (ADP) technique. First, an auxiliary dynamic compensator is introduced to deal with the input constraints. Through augmenting the original system with the designed auxiliary compensator, the design of constrained optimal controller is circumvented by stabilizing the equivalent augmented system. Then, the cost function is appropriately redefined by introducing an additional function connected with disturbances for the augmented nominal system in order to compensate the effect of unmatched disturbances. Next, the solution of associated Hamilton-Jacobi-Bellman (HJB) equation is solved online with weight adaptation law using neural networks (NNs). Furthermore, an additional robustifying term is utilized to compensate the effect of the approximation error of NNs, and thus the asymptotic stability of the closed-loop system is guaranteed. Finally, all signals of the closed-loop system are proved to be asymptotic convergence by using Lyapunov method. Simulation examples demonstrate the effectiveness of the proposed scheme.

Modeling adaptive preview time of driver model for intelligent vehicles based on deep learning

2021 ◽  
pp. 095965182110283
Author(s):  
Ju Xie ◽  
Xing Xu ◽  
Feng Wang ◽  
Long Chen
Keyword(s):  
Closed Loop ◽  
Path Following ◽  
Intelligent Vehicles ◽  
Loop System ◽  
Driver Model ◽  
Intelligent Vehicle ◽  
Training Procedure ◽  
Closed Loop System ◽  
Time Model ◽  
Driving Conditions

In order to improve the adaptability and tracking performance of intelligent vehicles under complex driving conditions, and simulate the manipulation characteristics of the real driver in the driver–vehicle–road closed-loop system, a kind of adaptive preview time model for intelligent vehicle driver model is proposed. This article builds the intelligent vehicle driver model based on optimal preview control theory and the basic preview time is identified to minimize path error under various conditions based on particle swarm optimization. Then, the ideal compensation preview time is constructed in various conditions and the appropriate factors affecting compensation preview time are filtered out according to correlation analysis. Moreover, the architecture and training procedure of deep network is specified for compensation preview time prediction. Finally, the adaptive preview time is modeled by combining the basic preview time with the compensation preview time and the validity of adaptive preview time model is verified by the driver–vehicle–road closed-loop system under normal and aggressive driving conditions. The results show that the proposed adaptive preview time model can help intelligent vehicles better adapt complex driving conditions and effectively improve the path-following performance.

Safety and Performance of the Omnipod®Hybrid Closed-Loop System in Adolescents with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 1376-P
Author(s):  
GREGORY P. FORLENZA ◽  
BRUCE BUCKINGHAM ◽  
JENNIFER SHERR ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions

1066-P: Improvement in Time-in-Range (TIR) with Real-Life Use of Hybrid Closed-Loop System in Patients with Type 1 Diabetes (T1D)

Diabetes ◽  
2019 ◽  
Vol 68 (Supplement 1) ◽  
pp. 1066-P
Author(s):  
HALIS K. AKTURK ◽  
DOMINIQUE A. GIORDANO ◽  
HAL JOSEPH ◽  
SATISH K. GARG ◽  
JANET K. SNELL-BERGEON
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Real Life ◽  
Loop System ◽  
Closed Loop System ◽  
Time In Range

Safety and Performance of the Omnipod® Hybrid Closed-Loop System in Adults with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 207-OR
Author(s):  
BRUCE A. BUCKINGHAM ◽  
JENNIFER SHERR ◽  
GREGORY P. FORLENZA ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions
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