Fault Tolerant Autonomous Lateral Control for Heavy Vehicles PDF Download
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Author: Craig Matthew Talbot
Publisher:
ISBN:
Category : Buses
Languages : en
Pages : 68
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Book Description
This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control of Commercial Heavy Duty Vehicle". Both projects were concerned mostly with the theoretical portion of the problem, i.e. model development, analysis of the dynamic model from the lateral control point of view, and the lateral controller designs. The first experimental results were shown in MOU289 (MOU313), "Lateral Control of Heavy Duty Vehicles for Automated Highway Systems", where the theoretical model was validated and calibrated to the dynamic behavior of an actual tractor-semitrailer vehicle, which was obtained and instrumented. In addition, preliminary closed-loop experiments were performed. A more comprehensive study on a large variety of control strategies was presented in MOU385 and TO4201, "Robust Lateral Control of Heavy Duty Vehicles". More specifically, three types of nonlinear and adaptive controllers for lateral control of heavy vehicles were analyzed theoretically and compared experimentally. All the research efforts mentioned above have been extremely valuable for the development of automated highway vehicles; however they assume the existence of a fully operational magnet-magnetometer scheme. To be more specific, all the results are based on the assumption that each heavy vehicle is equipped with two banks of magnetic sensors, one mounted on the front bumper and the other mounted on the rear bumper of the trailer. The road is also implanted with equally spaced magnets whose magnetic field is used to measure the vehicle's lateral deviation from the road centerline ("lane-keeping control"). Up to now, no heavy-vehicle-related report has discussed the case of vehicle lateral performance under the existence of faults. This problem is very important, since safety and reliability are the primary requirements for the success of AHS. This report addresses the problem of fault tolerant control of heavy vehicles by proposing a secondary system that implements "autonomous vehicle following" instead of "lanekeeping".
Author: Craig Matthew Talbot
Publisher:
ISBN:
Category : Buses
Languages : en
Pages : 68
Get Book Here
Book Description
This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control of Commercial Heavy Duty Vehicle". Both projects were concerned mostly with the theoretical portion of the problem, i.e. model development, analysis of the dynamic model from the lateral control point of view, and the lateral controller designs. The first experimental results were shown in MOU289 (MOU313), "Lateral Control of Heavy Duty Vehicles for Automated Highway Systems", where the theoretical model was validated and calibrated to the dynamic behavior of an actual tractor-semitrailer vehicle, which was obtained and instrumented. In addition, preliminary closed-loop experiments were performed. A more comprehensive study on a large variety of control strategies was presented in MOU385 and TO4201, "Robust Lateral Control of Heavy Duty Vehicles". More specifically, three types of nonlinear and adaptive controllers for lateral control of heavy vehicles were analyzed theoretically and compared experimentally. All the research efforts mentioned above have been extremely valuable for the development of automated highway vehicles; however they assume the existence of a fully operational magnet-magnetometer scheme. To be more specific, all the results are based on the assumption that each heavy vehicle is equipped with two banks of magnetic sensors, one mounted on the front bumper and the other mounted on the rear bumper of the trailer. The road is also implanted with equally spaced magnets whose magnetic field is used to measure the vehicle's lateral deviation from the road centerline ("lane-keeping control"). Up to now, no heavy-vehicle-related report has discussed the case of vehicle lateral performance under the existence of faults. This problem is very important, since safety and reliability are the primary requirements for the success of AHS. This report addresses the problem of fault tolerant control of heavy vehicles by proposing a secondary system that implements "autonomous vehicle following" instead of "lanekeeping".
Author: Darline Devariste
Publisher:
ISBN:
Category : Robots
Languages : en
Pages :
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Book Description
Author: Craig Matthew Talbot
Publisher:
ISBN:
Category :
Languages : en
Pages : 136
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Book Description
Author: Felipe Jimenez
Publisher: MDPI
ISBN: 3038975680
Category : Computers
Languages : en
Pages : 219
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Book Description
This book is a printed edition of the Special Issue "Road Vehicles Surroundings Supervision: On-Board Sensors and Communications" that was published in Applied Sciences
Author: Ralf Stetter
Publisher: Springer
ISBN: 3030128466
Category : Technology & Engineering
Languages : en
Pages : 217
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Book Description
This book summarizes strategies, methods, algorithms, frameworks and systems for the fault-tolerant design and control of automated vehicles and processes. Intelligent systems may be able to accommodate inevitable faults, but this ability requires targeted design processes and advanced control systems. This book explains the respective elements involved in automated vehicles and processes. It provides detailed descriptions of fault-tolerant design, not offered in the existent scientific literature. With regard to fault-tolerant control, the focus is on innovative methods, which can accommodate not only uncertainties, but also shared and flexible redundant elements. The book is intended to present a concise guide for researchers in the field of fault-tolerant design and control, and to provide concrete insights for design and control engineers working in the field of automated vehicles and processes.
Author: Te-Sheng Hsaio
Publisher:
ISBN:
Category :
Languages : en
Pages : 284
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Book Description
Author: Leonidas Muganda
Publisher: Xulon Press
ISBN: 1607914344
Category : Biography & Autobiography
Languages : en
Pages : 122
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Book Description
Since the beginning of times man always had a deep longing to know the future. As God forbids fortune telling, he nevertheless sends prophets to prepare his people. One of the prophets in the twentieth century was a Pentecostal Pastor called William Branham. In 1933 he received seven prophetic visions on end time events. In the fourth vision he saw cars running automatically on American highways. Cars had no steering wheel and the front passengers were turned backwards playing some kind of game. The roof was completely transparent and cars were egg shaped. This prophecy is now in the process of being fulfilled. In 1997 a dozen of cars moved automatically on a Californian highway. The technology is now present to help establish these highways. Science will soon accomplish what God foretold. This book explains scientifically how and when science will fulfill this prophecy in the twenty first century. For more information contact Edwin Standley:
[email protected] Leonidas Muganda and Edwin Standley are Pastor and Engineer in Electronics respectively. They met for the first time at Hull University in England during their studies. Leonidas is married to Francoise and has three sons. He lives in Leicester and is a leader in his church. He has a passion for the word of God that he knows from Genesis to Revelation. Edwin lives in France, and is interested in science and especially automated cars. He read about the ministry and prophecies of a Pastor called William Branham. Leonidas and Edwin decided it was time to write a book explaining how the establishment of automated highways will fulfill what William Branham predicted in his prophecies a long time ago.
Author: Shankar R. Seelam
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 150
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Book Description
Author: Shashikanth Suryanarayanan
Publisher:
ISBN:
Category :
Languages : en
Pages : 282
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Book Description
Author: Juan Antonio Vazquez Trejo
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Increasing demand for safe and reliable dynamic systems has been becoming an important subject. Modern control systems are becoming more complex and sophisticated, in consequence, the issues of availability, cost efficiency, reliability, operating safety, and environmental protection are of major importance. Fault-tolerant control has become an important subject in modern control theory and practice.Due to the higher complexity and the increasing number of components, multi-agent systems are particularly sensitive to faults, which can happen with a higher probability and result in performance degradation or breakdown of all the agents.This thesis presents the design of different fault-tolerant methods based on multi-agent system theoretical framework. The leader-following problem is considered with the aim that all agents follow the trajectory of a leader agent in spite of faults. The main contributions of this thesis are focused on control strategies for different external unknown inputs considered as faults and/or disturbances: 1) The design of an event-triggered mechanism to solve the leader-following control problem reducing the exchange of information between agents and the control update rate. 2) The design of a fault-tolerant control based on virtual actuators in multi-agent systems subject to actuators faults. 3) The design of an event-triggered formation control for multi-agent systems with communication faults. 4) The design of a quadratic boundedness leader-following control in multi-agent systems subject to bounded disturbances.The performance and effectiveness of the proposed strategies are shown through numerical examples and implementation in an experimental fleet of unmanned aerial vehicles.
