Controls and Control Theory Commons^™

Implementation Of Fuzzy Logic Control Into An Equivalent Minimization Strategy For Adaptive Energy Management Of A Parallel Hybrid Electric Vehicle, Jared Alexander Diethorn

Graduate Theses, Dissertations, and Problem Reports (ETD)

As government agencies continue to tighten emissions regulations due to the continued increase in greenhouse gas production, automotive industries are seeking to produce increasingly efficient vehicle technology. Electric vehicles have been introduced by the industry, showing promising signs of reducing emissions production in the automotive sector. However, many consumers may be hesitant to purchase fully electric vehicles due to several uncertainty variables including available charging stations. Hybrid electric vehicles (HEVs) have been introduced to reduce problems while improving fuel economy. HEVs have led to the demand of creating more advanced controls software to consider multiple components for propulsive power in …

Resilience For Multi-Filter All-Source Navigation Framework With Integrity, Jonathon S. Gipson, Robert C. Leishman

Faculty Publications

The Autonomous and Resilient Management of All-source Sensors (ARMAS) framework monitors residual-space test statistics across unique sensor-exclusion banks of filters, (known as subfilters) to provide a resilient, fault-resistant all-source navigation architecture with assurance. A critical assumption of this architecture, demonstrated in this paper, is fully overlapping state observability across all subfilters. All-source sensors, particularly those that only provide partial state information (altimeters, TDoA, AOB, etc.) do not intrinsically meet this requirement.
This paper presents a novel method to monitor real-time overlapping position state observability and introduces an "observability bank" within the ARMAS framework, known as Stable Observability Monitoring (SOM). SOM …

Control Of Mr Damper Using Anfis And Pid Controller For Optimum Vehicle Ride Comfort, Mohammad Faisal Yakhni, Mohamad Ali, Mohamed El-Gohary

BAU Journal - Science and Technology

Suspension system design is an important challenging duty that facing car manufacturers, so the challenge has become to design the best system in terms of providing ride comfort and handling ability under all driving situations. The goal of this paper is to provide assistance in enhancing the effectiveness of the suspension system. A full car model with eight Degrees Of Freedom (DOF) was developed using MATLAB/Simulink. Validation of the Simulink model was obtained. The model was assumed to travel over a speed hump that has a half sine wave shape and amplitude that changing from 0.01 to 0.2 m. The …

Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah

Honors Scholar Theses

Many current algorithms and approaches in autonomous driving attempt to solve the "trajectory generation" or "trajectory following” problems: given a target behavior (e.g. stay in the current lane at the speed limit or change lane), what trajectory should the vehicle follow, and what inputs should the driving agent apply to the throttle and brake to achieve this trajectory? In this work, we instead focus on the “behavior planning” problem—specifically, should an autonomous vehicle change lane or keep lane given the current state of the system?

In addition, current theory mainly focuses on single-vehicle systems, where vehicles do not communicate with …

Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib

Mechanical Engineering Research Theses and Dissertations

In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales. …

Techniques To Solve Decision-Making Problems, Dilnoz Tulkunovna Muhamediyeva, Bekmuratov Fayzievich Tulkun

Chemical Technology, Control and Management

Solving decision-making problems in poorly formalized systems only with the help of deterministic and probabilistic methods is insufficient. To do this, it is necessary to widely apply the methods of hybrid intelligent systems and, especially, the methods of “soft” calculations (SoftCalculation, SoftComputing) and the directions of ComputationalIntelligence — intelligent computing technologies that are emerging on this theoretical and methodological base. An immune - fuzzy algorithm for the synthesis of fuzzy inference systems (FIS) is proposed. A two-stage adaptive FIS synthesis algorithm is described. At the first stage, the initial fuzzy parameters are clustered in order to reduce the number of …

Development Of An Eco Approach And Departure Application To Improve Energy Consumption Of A Plug-In Hybrid Vehicle In Charge Depleting Mode, Brandon Narodzonek

Dissertations, Master's Theses and Master's Reports

A recent study at Michigan Technological University as part of the NEXTCAR DOE APRA-E Project was conducted to determine the potential energy savings of a plug-in hybrid electric vehicle (PHEV) equipped with various Connected and Automated Vehicle (CAV) Technologies. One aspect of this study focused on the development of an Eco Approach and Departure (Eco AnD) Application that would further reduce the energy consumed around a signalized intersection.

Many modern intersections are equipped with traffic signals that can broadcast Basic Safety (BSM), MAP, and Signal Phase and Timing (SPaT) message sets that contain intersection ID, location, current phase, and cyclic …

Filtered-Dynamic-Inversion Control For Unknown Minimum-Phase Systems With Unknown Relative Degree, Sumit Suryakant Kamat

Theses and Dissertations--Mechanical and Aerospace Engineering

We present filtered-dynamic-inversion (FDI) control for unknown linear time-invariant systems that are multi-input multi-output and minimum phase with unknown-but-bounded relative degree. This FDI controller requires limited model information, specifically, knowledge of an upper bound on the relative degree and knowledge of the first nonzero Markov parameter. The FDI controller is a single-parameter high-parameter-stabilizing controller that is robust to uncertainty in the relative degree. We characterize the stability of the closed-loop system. We present numerical examples, where the FDI controller is implemented in feedback with mathematical and physical systems. The numerical examples demonstrate that the FDI controller for unknown relative degree …

A Study Of Model-Based Control Strategy For A Gasoline Turbocharged Direct Injection Spark Ignited Engine, Xin Wang

Dissertations, Master's Theses and Master's Reports

To meet increasingly stringent fuel economy and emissions legislation, more advanced technologies have been added to spark-ignition (SI) engines, thus exponentially increase the complexity and calibration work of traditional map-based engine control. To achieve better engine performance without introducing significant calibration efforts and make the developed control system easily adapt to future engines upgrades and designs, this research proposes a model-based optimal control system for cycle-by-cycle Gasoline Turbocharged Direct Injection (GTDI) SI engine control, which aims to deliver the requested torque output and operate the engine to achieve the best achievable fuel economy and minimum emission under wide range of …

Real-Time Predictive Control Of Connected Vehicle Powertrains For Improved Energy Efficiency, Joseph Oncken

Dissertations, Master's Theses and Master's Reports

The continued push for the reduction of energy consumption across the automotive vehicle fleet has led to widespread adoption of hybrid and plug-in hybrid electric vehicles (PHEV) by auto manufacturers. In addition, connected and automated vehicle (CAV) technologies have seen rapid development in recent years and bring with them the potential to significantly impact vehicle energy consumption. This dissertation studies predictive control methods for PHEV powertrains that are enabled by CAV technologies with the goal of reducing vehicle energy consumption.

First, a real-time predictive powertrain controller for PHEV energy management is developed. This controller utilizes predictions of future vehicle velocity …

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, …

Implementation Of Radial Basis Function Artificial Neural Network Into An Adaptive Equivalent Consumption Minimization Strategy For Optimized Control Of A Hybrid Electric Vehicle, Thomas P. Harris

Graduate Theses, Dissertations, and Problem Reports (ETD)

Continued increases in the emission of greenhouse gases by passenger vehicles has accelerated the production of hybrid electric vehicles. With this increase in production, there has been a parallel demand for continuously improving strategies of hybrid electric vehicle control. The goal of an ideal control strategy is to maximize fuel economy while minimizing emissions. The design and implementation of an optimized control strategy is a complex challenge. Methods exist by which the globally optimal control strategy may be found. However, these methods are not applicable in real-world driving applications since these methods require a priori knowledge of the upcoming drive …

The Challenges Facing Autonomous Vehicles And The Progress In Addressing Them, Garrett Johnson

Senior Honors Theses

Autonomous vehicles are an emerging technology that faces challenges, both technical and socioeconomic. This paper first addresses specific technical challenges, such as parsing visual data, communicating with other entities, and making decisions based on environmental knowledge. The technical challenges are to be addressed by the fields of image processing, Vehicle to Everything Communication (V2X), and decision-making systems. Non-technical challenges such as ethical decision making, social acceptance, and economic pushback are also discussed. Ethical decision making is discussed in the framework of deontology vs utilitarianism, while social acceptance of utilitarian autonomous vehicles is also investigated. Last, the likely economic impact is …

A Legal Study On Challenges Confronted By Unmanned Ships, Minhe Li

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

Autonomous Watercraft Simulation And Programming, Nicholas J. Savino

Student Scholar Showcase

Automation of various modes of transportation is thought to make travel more safe and efficient. Over the past several decades, advances to semi-autonomous and autonomous vehicles have led to advanced autopilot systems on planes and boats, and an increasing popularity of self-driving cars. We predicted the motion of an autonomous vehicle using simulations in Python. The simulation models the motion of a small scale watercraft, which can then be built and programmed using an Arduino Microcontroller. We examined different control methods for a simulated rescue craft to reach a target. We also examined the effects of different factors, such as …

Edge Heterogeneous Hardware Evaluation Based On Real Connected And Autonomous Vehicles (Cavs) Workloads, Mustafa Ahmad

Research Opportunities for Engineering Undergraduates (ROEU) Program 2018-19

There has recently been a wide expansion of hardware to assist in autonomous driving tasks. On this project, we focus on using some state-of-the-art deep learning workloads in connected autonomous vehicle (CAV) scenarios,such as object detection and object tracking to evaluate the heterogeneous hardware.

Modeling And Control Of Maximum Pressure Rise Rate In Rcci Engines, Aditya Basina

Dissertations, Master's Theses and Master's Reports

Low Temperature Combustion (LTC) is a combustion strategy that burns fuel at lower temperatures and leaner mixtures in order to achieve high efficiency and near zero NOx emissions. Since the combustion happens at lower temperatures it inhibits the formation of NOx and soot emissions. One such strategy is Reactivity Controlled Compression Ignition (RCCI). One characteristic of RCCI combustion and LTC com- bustion in general is short burn durations which leads to high Pressure Rise Rates (PRR). This limits the operation of these engines to lower loads as at high loads, the Maximum Pressure Rise Rate (MPRR) hinders the use of …

Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya

Dissertations, Master's Theses and Master's Reports

Autonomous steering control is one the most important features in autonomous vehicle navigation. The nature and tuning of the controller decides how well the vehicle follows a defined trajectory. A poorly tuned controller can cause the vehicle to oversteer or understeer at turns leading to deviation from a defined path. However, controller performance also depends on the state–feedback system. If the states used for controller input are noisy or has bias / systematic error, the navigation performance of the vehicle is affected irrespective of the control law and controller tuning. In this report, autonomous steering controller analysis is done for …

Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control, Hadi Kazemi

Graduate Theses, Dissertations, and Problem Reports (ETD)

Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such information has the potential to be utilized for prediction of driving conditions and traffic flow, which allows us to improve the performance of the control systems in different vehicular applications, such as Hybrid Electric Vehicles (HEVs) powertrain control and Cooperative Adaptive Cruise Control (CACC). In the first part of this work, we study the design of an MPC controller for a Cooperative Adaptive Cruise Control (CACC) system, which is an automated application that provides the drivers …

An Improved Control Algorithm For Ship Course Keeping Based On Nonlinear Feedback And Decoration, Xiaxiao Yao

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

Application Of Real Field Connected Vehicle Data For Aggressive Driving Identification On Horizontal Curves, Arash Jahangiri, Vincent Berardi, Sahar Ghanipoor Machiani

Psychology Faculty Articles and Research

The emerging technology of connected vehicles generates a vast amount of data that could be used to enhance roadway safety. In this paper, we focused on safety applications of a real field connected vehicle data on a horizontal curve. The database contains connected vehicle data that were collected on public roads in Ann Arbor, Michigan with instrumented vehicles. Horizontal curve negotiations are associated with a great number of accidents, which are mainly attributed to driving errors. Aggressive/risky driving is a contributing factor to the high rate of crashes on horizontal curves. Using basic safety message data in connected vehicle data …

Autonomous Speed Control For Kia Optima, Andrew J. Combs, Kyle Fugatt, Kevin Mcfall

The Kennesaw Journal of Undergraduate Research

The standard method for speed control is the cruise control system built into most modern vehicles. These systems employ a PID controller which actuates the accelerator thus, in turn, maintains the desired vehicle speed. The main drawback of such a system is that typically the cruise control will only engage above 25 mph. The goal of this paper is to describe a system which we used to control vehicle speed from a stop to any desired speed using an Arduino microcontroller and a CAN BUS shield, from where autonomous features can be built upon. With this system, we were able …

Model-Based Control Of Hybrid Electric Powertrains Integrated With Low Temperature Combustion Engines, Ali Soloukmofrad

Dissertations, Master's Theses and Master's Reports

Powertrain electrification including hybridizing advanced combustion engines is a viable cost-effective solution to improve fuel economy of vehicles. This will provide opportunity for narrow-range high-efficiency combustion regimes to be able to operate and consequently improve vehicle’s fuel conversion efficiency, compared to conventional hybrid electric vehicles (HEV)s. Low temperature combustion (LTC) engines offer the highest peak brake thermal efficiency reported in literature, but these engines have narrow operating range. In addition, LTC engines have ultra-low soot and nitrogen oxides (NOx) emissions, compared to conventional compression ignition and spark ignition (SI) engines. This dissertation concentrates on integrating the LTC engines (i) in …

Easily Verifiable Controller Design With Application To Automotive Powertrains, Mohammad Reza Amini

Dissertations, Master's Theses and Master's Reports

Bridging the gap between designed and implemented model-based controllers is a major challenge in the design cycle of industrial controllers. This gap is mainly created due to (i) digital implementation of controller software that introduces sampling and quantization imprecisions via analog-to-digital conversion (ADC), and (ii) uncertainties in the modeled plant’s dynamics, which directly propagate through the controller structure. The failure to identify and handle these implementation and model uncertainties results in undesirable controller performance and costly iterative loops for completing the controller verification and validation (V&V) process.

This PhD dissertation develops a novel theoretical framework to design controllers that are …

An Optimal Energy Management Strategy For Hybrid Electric Vehicles, Amir Rezaei

Dissertations, Master's Theses and Master's Reports

Hybrid Electric Vehicles (HEVs) are used to overcome the short-range and long charging time problems of purely electric vehicles. HEVs have at least two power sources. Therefore, the Energy Management (EM) strategy for dividing the driver requested power between the available power sources plays an important role in achieving good HEV performance.

This work, proposes a novel real-time EM strategy for HEVs which is named ECMS-CESO. ECMS-CESO is based on the Equivalent Consumption Minimization Strategy (ECMS) and is designed to Catch Energy Saving Opportunities (CESO) while operating the vehicle. ECMS-CESO is an instantaneous optimal controller, i. e., it does not …

Active Management Assistant System For Embry-Riddle Ecocar 3 Hybrid Supervisory Control System, Matthew Nelson, Blair Cutting, Michael J. Aleardi

Student Works

The Embry-Riddle EcoCAR 3 team is developing a prototype hybrid Chevrolet Camaro utilizing a customized vehicle powertrain controller. This controller is serving to ensure system safety, vehicle operation, and consumer drivability while also incorporating advanced driving aids to achieve both the desired performance levels one expects from a Camaro as well as vehicle efficiency. This vehicle must reach the team set vehicle technical specifications of a 4.9 second 0 to 60 time while maintaining a 53 miles per gallon gasoline equivalence rating.

In order to reach the efficiency goal, the team is developing an Active Management Assistance System utilizing computer …

A Lidar Based Semi-Autonomous Collision Avoidance System And The Development Of A Hardware-In-The-Loop Simulator To Aid In Algorithm Development And Human Studies, Thomas F. Stevens

Master's Theses

In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10^th scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board computer running embedded GNU/Linux. To eliminate any wired tethers that limit the system’s abilities, the driver operates the vehicle at a user-control-station through a wireless Bluetooth interface. The user-control-station is outfitted with a game-controller that provides standard steering wheel and pedal controls along …

Combined Traction And Energy Recovery Motor For Electric Vehicles, James Long, Xin Wang, Claude Kansaku, Brian Moravec

TREC Final Reports

Electric vehicle manufacturers are looking for ways to optimize energy use for vehicle range extension and reduction of battery capacity. Electric motors have lower efficiencies at very low speed and high torque. This is typically at vehicle launch from standstill, at very low speeds, and during energy regeneration at lower speeds and approaching standstill. The KersTech solution is a breakthrough technology allowing supplement of the electric drive with a hydraulic drive, active in lower speeds ranges, dropping out as the electric motor takes over in its higher efficiency range of operation. The report consists of four parts. Part I presents …

Application Of Mixed-Norm Optimal Control To A Multi-Objective Active Suspension Problem, John B. Allison

Theses and Dissertations

Mixed norm optimal control synthesis is used to solve a multiobjective suspension problem. The objective is to develop a controller for an active suspension system onboard a tractor semitrailer vehicle. The problem is first approached by using H₂ and H∞ optimization. It is shown that by combining both techniques into one mixed norm optimization method, it is possible to exploit the strengths of each norm to provide superior performance. Two H₂/H∞ designs were completed. One design concentrated on optimal performance at one design condition. The second design concentrated on providing the best performance possible at a medium …