A recursive least square RLS algorithm for estimation of vehicle sideslip angle and road friction coefficient is proposed. The algorithm uses the information from sensors onboard vehicle and control inputs from the control logic and is intended to provide the essential information for active safety systems such as active steering, direct yaw moment control, or their combination. Based on a simp...

We describe the methodology, tools and technologies for designing and implementing communication and control systems for networked automated or driver assist vehicles. In addressing design, we discuss enabling methodologies and our suite of enabling computational tools for formal modeling, simulation, and implementation. We illustrate our description with design, development and implementation ...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH) policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM) technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state me...

The coupled dynamics between the vehicle chassis suspension system and electrical power steering system(EPS) is analyzed, to establish the full-vehicle nonlinear model, EPS model, tire model and road input model. The tire’s complex nonlinear model is approximated by utilizing the least square method, so as to obtain the integrated system model with the 22-order. To simplify the nonlinear contro...

In this paper, we discuss integrated vehicle slip ratio control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller. When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously. Here, the slip ratio is approximated to a continuous func...