It is often difficult to measure all necessary parameters directly in the current stability control systems. This paper presents a nonlinear observer to estimate vehicle’s yaw rate, lateral acceleration, tire side slip angles and the road friction coefficient based on the measurement signals of the Electric Power Steering (EPS) system and the Anti-lock Braking System (ABS). The performances of ...

In this paper, a system is developed to control the yaw moment and the lateral deviation in the case of braking with different adhesion conditions on the left and right sides. A driving assistance is obtained by using the front and rear steering angles. The control law is designed using an extension of the H∞ loop-shaping method to the case of linear parametervarying (LPV) plants: it allows to ...

The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where the controller is implemented on a model...

The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where the controller is implemented on a model...

This contribution describes a real-time model predictive control allocation algorithm for over-actuated electric vehicles with individually driven wheels. The proposed method allows to exploit the inherent redundancy present in these systems to optimally allocate yaw moment and longitudinal force while considering actuator dynamics and complying with rate and wheel slip constraints. A linear fo...

We review our recent works on the supersymmetrization of the leading string correction (the R term) to N = 1, 2 supergravity theories in four dimensions. We show that, in the ”old minimal” formulations of these theories, when going on-shell in the presence of this correction, the auxiliary fields which come from multiplets with physical fields cannot be eliminated, but those ones that come from...

Background Cardiac diffusion weighted imaging (DWI) using a spin echo sequence is challenging because of its high sensitivity to bulk motion. When the displacement or acceleration are constant and coherent but not equal for all spins within a voxel, it will cause signal attenuation due intra voxel de-phasing as an effect of first or second order moment encoding errors. This signal attenuation c...

Currently, water jets are mainly used in the fields of mechanical processing and mining collection. This paper creatively introduces them to field safety assurance for inland navigation. Compared with traditional bridge anti-striking methods such as intelligent early warning passive anti-striking, this method can form an “interference zone” by changing flow conditions local areas, causing yawin...

During design spiral of a merchant ship or a naval vessel, it is important to perform towing tank tests in order to measure its performance either in calm water maneuvers or in waves for seakeeping performance. Also, to optimize a hydrodynamic design, towing tank tests are advantageous.This article presents the results of an applied research project. The objective of this project is to design a...