Artículos de revistas: "Decoupled lateral and longitudinal control"

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Al Shibli, Murad. "UAV autonomous decoupled dynamic longitudinal-lateral motion control using full-order state observer". International Journal of Unmanned Systems Engineering 2, n.º 4 (1 de octubre de 2014): 1–15. http://dx.doi.org/10.14323/ijuseng.2014.14.

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Wolniakowski, Adam y Arkadiusz Mystkowski. "Application of Unfalsified Control Theory in Controlling MAV". Solid State Phenomena 198 (marzo de 2013): 171–75. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.171.

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Controlling the flight of Micro Aerial Vehicles (MAV) is a highly challenging task, mostly due to nonlinearity of their models and highly varying longitudinal and lateral derivatives coefficients [. As such, it requires a proper form of robust control. The demand for such control is very high, as it is required in many applications. The following paper presents the application of Unfalsified Control Theory developed by Michael G. Safonov [1, 2, 6, . This interesting approach is based on the adaptive switching control, and does not require any previous knowledge of the controlled plant. The controlled dynamics is decoupled due to longitudinal and lateral motion of the Bell 540 single-delta wing micro aerial vehicle. The work involves design and simulation of the proper robust controller. The simulation is based on already obtained nominal model of the Bell 540 vehicle [. The developed controllers were proved to be efficient, based on performed calculations and simulation in Matlab.

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DeSantis, R. M. "Modeling and path-tracking control of a mobile wheeled robot with a differential drive". Robotica 13, n.º 4 (julio de 1995): 401–10. http://dx.doi.org/10.1017/s026357470001883x.

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SummaryTopics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

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Mystkowski, Arkadiusz. "Robust Optimal Control of MAV Based on Linear-Time Varying Decoupled Model Dynamics". Solid State Phenomena 198 (marzo de 2013): 571–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.571.

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This paper discusses a nonlinear robust control design procedure to micro air vehicle that uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines a linear parameters varying (LPV) of UAV (unmanned aerial vehicle) are realized by using serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure robustness stability of the UAV local dynamics in longitudinal and lateral control directions.

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Wu, HaiDong, ZiHan Li y ZhenLi Si. "Trajectory tracking control for four-wheel independent drive intelligent vehicle based on model predictive control and sliding mode control". Advances in Mechanical Engineering 13, n.º 9 (septiembre de 2021): 168781402110451. http://dx.doi.org/10.1177/16878140211045142.

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For four-wheel independent drive intelligent vehicle, the longitudinal and lateral motion control of the vehicle is decoupled and a hierarchical controller is designed: the upper layer is the motion controller, and the lower layer is the control distributor. In the motion controller, the model predictive control (MPC) is used to calculate the steering wheel angle and the total yaw moment for lateral control, and the sliding mode control (SMC) is used to calculate the total driving force for longitudinal control. In order to improve the control algorithm adaptability and the tracking accuracy at high speed, the UniTire model that can accurately express the complex coupling characteristics of tire under different working conditions are used and the numerical partial derivative of the state equation is used in MPC controller to ensure the feasibility of the algorithm. The control distributor distributes the total yaw moment and driving force calculated by the motion controller of the four wheels through the objective optimization function, and the constraints on road adhesion condition and the constraints on actuators are considered at the same time. A co-simulation platform is built in the CarSim/Simulink environment and the MPC-SMC controller is compared with the previously established MPC controller.

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Kim, Jinsoo, Jahng-Hyon Park y Kyung-Young Jhang. "Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings". IEEE Access 9 (2021): 4315–34. http://dx.doi.org/10.1109/access.2020.3047189.

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7

Deng, Zhao, Fuqiang Bing, Zhiming Guo y Liaoni Wu. "Rope-Hook Recovery Controller Designed for a Flying-Wing UAV". Aerospace 8, n.º 12 (7 de diciembre de 2021): 384. http://dx.doi.org/10.3390/aerospace8120384.

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Due to the complexity of landing environments, precision guidance and high-precision control technology have become key to the rope-hook recovery of shipborne unmanned aerial vehicles (UAVs). The recovery process was divided into three stages and a reasonable guidance strategy had been designed for them, respectively. This study separated the guidance and control issues into an outer guidance loop and an inner control loop. The inner loop (attitude control loop) controled the UAV to follow the acceleration commands generated by the outer loop (trajectory tracking loop). The inner loop of the longitudinal controller and the lateral controller were designed based on active disturbance rejection control (ADRC), which has strong anti-interference ability. In the last phase, the outer loop of the longitudinal controller switched from a total energy control system (TECS), which greatly decoupled the altitude channel and speed channel, to the proportional navigation (PN) guidance law, while the outer loop of lateral controller switches from the proportional control law based on the L1 guidance law, which can reduce the tracking error and deviation, to the PN guidance law, which considerably enhances the tracking precision. Finally, the simulation data and flight test data show that the controller has strong robustness and good tracking precision, which ensures safe rope-hook recovery.

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Zeng, Di, Ling Zheng, Yinong Li, Jie Zeng y Kan Wang. "A Personalized Motion Planning Method with Driver Characteristics in Longitudinal and Lateral Directions". Electronics 12, n.º 24 (15 de diciembre de 2023): 5021. http://dx.doi.org/10.3390/electronics12245021.

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Humanlike driving is significant in improving the safety and comfort of automated vehicles. This paper proposes a personalized motion planning method with driver characteristics in longitudinal and lateral directions for highway automated driving. The motion planning is decoupled into path optimization and speed optimization under the framework of the Baidu Apollo EM motion planner. For modeling driver behavior in the longitudinal direction, a car-following model is developed and integrated into the speed optimizer based on a weight ratio hypothesis model of the objective functional, whose parameters are obtained by Bayesian optimization and leave-one-out cross validation using the driving data. For modeling driver behavior in the lateral direction, a Bayesian network (BN), which maps the physical states of the ego vehicle and surrounding vehicles and the lateral intentions of the surrounding vehicles to the driver’s lateral intentions, is built in an efficient and lightweight way using driving data. Further, a personalized reference trajectory decider is developed based on the BN, considering traffic regulations, the driver’s preference, and the costs of the trajectories. According to the actual traffic scenarios in the driving data, a simulation is constructed, and the results validate the human likeness of the proposed motion planning method.

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Deng, Zhao, Liaoni Wu y Yancheng You. "Modeling and Design of an Aircraft-Mode Controller for a Fixed-Wing VTOL UAV". Mathematical Problems in Engineering 2021 (29 de septiembre de 2021): 1–17. http://dx.doi.org/10.1155/2021/7902134.

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Vertical takeoff and landing (VTOL) is an essential feature of unmanned aerial vehicles (UAVs). On the one hand, VTOL can expand and enhance the applications of UAVs; yet, on the other hand, it makes the design of control systems for UAVs more complicated. The most challenging demand in designing the control system is to achieve satisfactory response sharpness of fixed-wing UAVs to control commands and ensure that the aircraft mode channels are effectively decoupled. In this work, a six-degree-of-freedom (6-DoF) model with forces and moments is established based on the aerodynamic analysis, which is carried out through computational fluid dynamics (CFD) numerical simulation. The improved proportional derivative (PD) controller based on the extended state observer (ESO) is proposed to design the inner-loop attitude control, which increases the anti-interference ability for internal and external uncertainty of the UAV system. The motion equations of the UAV are established and divided into independent components of longitudinal and lateral motion to design the outer loop control law under minor disturbance conditions. A total energy control system (TECS) for the longitudinal height channel is proposed, which separates speed control and track control. L1 nonlinear path tracking guidance algorithm is used for lateral trajectory tracking so as to improve curve tracking ability and wind resistance. Effectiveness of this approach is proved by actual flight experiment data. Finally, a controller based on angular velocity control is designed to prevent the attitude and head reference system (AHRS) from malfunctioning. Its effectiveness is verified by the response test of the control system.

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Moreno-Gonzalez, Marcos, Antonio Artuñedo, Jorge Villagra, Cédric Join y Michel Fliess. "Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design". Vehicles 5, n.º 2 (13 de junio de 2023): 698–717. http://dx.doi.org/10.3390/vehicles5020038.

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One of the challenges of autonomous driving is to increase the number of situations in which an intelligent vehicle can continue to operate without human intervention. This requires path-tracking control to keep the vehicle stable while following the road, regardless of the shape of the road or the longitudinal speed at which it is moving. In this work, a control strategy framed in the Model-Free Control paradigm is presented to control the lateral vehicle dynamics in a decoupled control architecture. This strategy is designed to guide the vehicle through trajectories with diverse dynamic constraints and over a wide speed range. A design method for this control strategy is proposed, and metrics for trajectory tracking quality, system stability, and passenger comfort are applied to evaluate the controller’s performance. Finally, simulation and real-world tests show that the developed strategy is able to track realistic trajectories with a high degree of accuracy, safety, and comfort.

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Ren, Pingli, Haobin Jiang y Xian Xu. "Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions". Sensors 23, n.º 4 (8 de febrero de 2023): 1888. http://dx.doi.org/10.3390/s23041888.

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Research on the cooperative adaptive cruise control (CACC) algorithm is primarily concerned with the longitudinal control of straight scenes. In contrast, the lateral control involved in certain traffic scenes such as lane changing or turning has rarely been studied. In this paper, we propose an adaptive cooperative cruise control (CACC) algorithm that is based on the Frenet frame. The algorithm decouples vehicle motion from complex motion in two dimensions to simple motion in one dimension, which can simplify the controller design and improve solution efficiency. First, the vehicle dynamics model is established based on the Frenet frame. Through a projection transformation of the vehicles in the platoon, the movement state of the vehicles is decomposed into the longitudinal direction along the reference trajectory and the lateral direction away from the reference trajectory. The second is the design of the longitudinal control law and the lateral control law. In the longitudinal control, vehicles are guaranteed to track the front vehicle and leader by satisfying the exponential convergence condition, and the tracking weight is balanced by a sigmoid function. Laterally, the nonlinear group dynamics equation is converted to a standard chain equation, and the Lyapunov method is used in the design of the control algorithm to ensure that the vehicles in the platoon follow the reference trajectory. The proposed control algorithm is finally verified through simulation, and validation results prove the effectiveness of the proposed algorithm.

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Qiao, Yiran, Xinbo Chen y Zhen Liu. "Trajectory Tracking Coordinated Control of 4WID-4WIS Electric Vehicle Considering Energy Consumption Economy Based on Pose Sensors". Sensors 23, n.º 12 (11 de junio de 2023): 5496. http://dx.doi.org/10.3390/s23125496.

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In order to improve the stability and economy of 4WID-4WIS (four-wheel independent drive—four-wheel independent steering) electric vehicles in trajectory tracking, this paper proposes a trajectory tracking coordinated control strategy considering energy consumption economy. First, a hierarchical chassis coordinated control architecture is designed, which includes target planning layer, and coordinated control layer. Then, the trajectory tracking control is decoupled based on the decentralized control structure. Expert PID and Model Predictive Control (MPC) are employed to realize longitudinal velocity tracking and lateral path tracking, respectively, which calculate generalized forces and moments. In addition, with the objective of optimal overall efficiency, the optimal torque distribution for each wheel is achieved using the Mutant Particle Swarm Optimization (MPSO) algorithm. Additionally, the modified Ackermann theory is used to distribute wheel angles. Finally, the control strategy is simulated and verified using Simulink. Comparing the control results of the average distribution strategy and the wheel load distribution strategy, it can be concluded that the proposed coordinated control not only provides good trajectory tracking but also greatly improves the overall efficiency of the motor operating points, which enhances the energy economy and realizes the multi-objective coordinated control of the chassis.

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Santos, Solange D. R., José Raul Azinheira, Miguel Ayala Botto y Duarte Valério. "Path Planning and Guidance Laws of a Formula Student Driverless Car". World Electric Vehicle Journal 13, n.º 6 (9 de junio de 2022): 100. http://dx.doi.org/10.3390/wevj13060100.

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Autonomous driving has been a topic of great interest in several areas, of which motor racing is no exception. The aim of this work is the autonomous control of the future Formula Student Lisboa vehicle, by implementing different strategies for control and path planning, with the purpose of minimising race lap times. These strategies are tested in simulation, using a realistic model of the prototype. The approach followed involves the decoupling of the lateral and longitudinal subsystems and obtaining the reference path using artificial potential fields, combined with a two-pass algorithm developed to generate a speed profile. In this way, a sub-optimal solution is reached that adequately portrays the expected behaviour of a human driver while respecting traction conditions. The process of generating the speed reference requires prior knowledge of the track layout. This assumption is then eased for obstacle avoidance, i.e., for a scenario where, in addition to the track limits, unknown static obstacles are present. A decoupled control approach is followed controlling each of the two subsystems individually.

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Sun, Bohua, Yang Zhai, Yaxin Li, Weiwen Deng y Shuai Zhao. "Driving Capability, a Unified Driver Model for ADAS". Journal of Physics: Conference Series 2185, n.º 1 (1 de enero de 2022): 012037. http://dx.doi.org/10.1088/1742-6596/2185/1/012037.

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Abstract To allocate driving privilege in a reasonable way in shared control for intelligent vehicle, the study on driving capability, the unified driver model for ADAS in the longitudinal and lateral scenarios was proposed, which can improve the safety and comfort for intelligent vehicles as well. Driving capability is defined and analyzed and car-following stimulate in longitudinal scenario and moving double lane change stimulate in lateral scenario were designed. Data collection was conducted in Driver-In-the-Loop Intelligent Simulation Platform (DILISP). Driving capability identification model was established basing on Hammerstein process and Principal Component Analysis (PCA) was used to decouple and reduce the dimension for the key parameters in Hammerstein identification model. The classification is done basing on the particle clustering algorithm and the evaluation equation for driving capability was calculated by Multiple Linear Regression (MLR). Results show that the proposed evaluation method for driving capability in the longitudinal and lateral scenarios can achieve accurate and reliable evaluation results.

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Şahin, İsmail Hakkı y Coşku Kasnakoğlu. "A stability-guaranteed smooth-scheduled MIMO robust emergency autopilot for a lateral surface jammed UAV". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 232, n.º 12 (14 de junio de 2017): 2286–99. http://dx.doi.org/10.1177/0954410017714291.

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This paper investigates a methodology for autopilot design for an unmanned air vehicle where one of the lateral control surfaces, i.e. the aileron or rudder, becomes jammed and unusable. The autopilot handles the automatic recovery, autonomous guidance and landing of the disabled unmanned aerial vehicle. An accurate nonlinear aircraft model is used to build local flight control laws using loop-shaping to decouple longitudinal and lateral channels. The design is carried out in a way to allow smooth scheduling over the local controllers without losing stability and performance, culminating in a robust emergency autopilot over the full flight envelope. The autopilot is tested on an example distress scenario involving aileron surface jam. It is confirmed through simulations that the autopilot design is capable of resuming safe flight and autonomous navigation under the fault scenario and is able to safely land the unmanned aerial vehicle to a target runway.

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Chen, Zhi, Daobo Wang, Ziyang Zhen, Biao Wang y Jian Fu. "Take-off and landing control for a coaxial ducted fan unmanned helicopter". Aircraft Engineering and Aerospace Technology 89, n.º 6 (2 de octubre de 2017): 764–76. http://dx.doi.org/10.1108/aeat-01-2016-0017.

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Purpose This paper aims to present a control strategy that eliminates the longitudinal and lateral drifting movements of the coaxial ducted fan unmanned helicopter (UH) during autonomous take-off and landing and reduce the coupling characteristics between channels of the coaxial UH for its special model structure. Design/methodology/approach Unidirectional auxiliary surfaces (UAS) for terminal sliding mode controller (TSMC) are designed for the flight control system of the coaxial UH, and a hierarchical flight control strategy is proposed to improve the decoupling ability of the coaxial UH. Findings It is demonstrated that the proposed height control strategy can solve the longitudinal and lateral movements during autonomous take-off and landing phase. The proposed hierarchical controller can decouple vertical and heading coupling problem which exists in coaxial UH. Furthermore, the confronted UAS-TSMC method can guarantee finite-time convergence and meet the quick flight trim requirements during take-off and landing. Research limitations/implications The designed flight control strategy has not implemented in real flight test yet, as all the tests are conducted in the numerical simulation and simulation with a hardware-in-the-loop (HIL) platform. Social implications The designed flight control strategy can solve the common problem of coupling characteristics between channels for coaxial UH, and it has important theoretical basis and reference value for engineering application; the control strategy can meet the demands of engineering practice. Originality/value In consideration of the TSMC approach, which can increase the convergence speed of the system state effectively, and the high level of response speed requirements to UH flight trim, the UAS-TSMC method is first applied to the coaxial ducted fan UH flight control. The proposed control strategy is implemented on the UH flight control system, and the HIL simulation clearly demonstrates that a much better performance could be achieved.

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Pusch, Manuel, Daniel Ossmann y Tamás Luspay. "Structured Control Design for a Highly Flexible Flutter Demonstrator". Aerospace 6, n.º 3 (5 de marzo de 2019): 27. http://dx.doi.org/10.3390/aerospace6030027.

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The model-based flight control system design for a highly flexible flutter demonstrator, developed in the European FLEXOP project, is presented. The flight control system includes a baseline controller to operate the aircraft fully autonomously and a flutter suppression controller to stabilize the unstable aeroelastic modes and extend the aircraft’s operational range. The baseline control system features a classical cascade flight control structure with scheduled control loops to augment the lateral and longitudinal axis of the aircraft. The flutter suppression controller uses an advanced blending technique to blend the flutter relevant sensor and actuator signals. These blends decouple the unstable modes and individually control them by scheduled single loop controllers. For the tuning of the free parameters in the defined controller structures, a model-based approach solving multi-objective, non-linear optimization problems is used. The developed control system, including baseline and flutter control algorithms, is verified in an extensive simulation campaign using a high fidelity simulator. The simulator is embedded in MATLAB and a features non-linear model of the aircraft dynamics itself and detailed sensor and actuator descriptions.

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Wu, Di Ping, Ting Yu y Qin Qin. "3D Cantilever Model Research on Roller Leveling Process of Plate with Lateral Buckling Defects". Advanced Materials Research 572 (octubre de 2012): 290–95. http://dx.doi.org/10.4028/www.scientific.net/amr.572.290.

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Roller leveling of plate with lateral defects is a complex process in which materials longitudinal strain couples with the transverse one. Different from wavy defects, lateral buckling defects are plates' macroscopic deformation because of stress or fiber length difference between up and down surfaces of the plate. Aiming at plate roller leveling process,a simplified 3D cantilever bending FEM model has been suggested in this paper. In the model, plates longitudinal bending and lateral warping are decoupled by using ABAQUS element deactivation function. Moreover, the mechanism of roller leveling process for plates with lateral buckling defects has been developed. On the basis of comparing with the ideal flat plates' bending process, effects of technological parameters such as reduction, roller diameter and roller shape on the lateral buckling defects correction during roller leveling process are also studied.

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Ehmanns, Dirk, Peter Zahn, Helmut Spannheimer y Raymond Freymann. "Integrated longitudinal and lateral guidance control". ATZ worldwide 105, n.º 4 (abril de 2003): 10–13. http://dx.doi.org/10.1007/bf03224592.

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Kayacan, Erkan, Zeki Y. Bayraktaroglu y Wouter Saeys. "Modeling and control of a spherical rolling robot: a decoupled dynamics approach". Robotica 30, n.º 4 (8 de agosto de 2011): 671–80. http://dx.doi.org/10.1017/s0263574711000956.

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SUMMARYThis paper presents the results of a study on the dynamical modeling, analysis, and control of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transverse and longitudinal axis. The kinematics of the model has been investigated through the classical methods with rotation matrices. Dynamic modeling of the system is based on the Euler–Lagrange formalism. Nonholonomic and highly nonlinear equations of motion have then been decomposed into two simpler subsystems through the decoupled dynamics approach. A feedback linearization loop with fuzzy controllers has been designed for the control of the decoupled dynamics. Rolling of the controlled mechanism over linear and curvilinear trajectories has been simulated by using the proposed decoupled dynamical model and feedback controllers. Analysis of radius of curvature over curvilinear trajectories has also been investigated.

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FUJIOKA, T. y K. SUZUKI. "Control of Longitudinal and Lateral Platoon Using Sliding Control". Vehicle System Dynamics 23, n.º 1 (enero de 1994): 647–64. http://dx.doi.org/10.1080/00423119408969079.

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Campos, Luís M. B. C. y Joaquim M. G. Marques. "On the Extrapolation of Stability Derivatives to Combined Changes in Airspeed and Angles of Attack and Sideslip". Aerospace 9, n.º 5 (3 de mayo de 2022): 249. http://dx.doi.org/10.3390/aerospace9050249.

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The variation in stability derivatives with airspeed and angles of attack and sideslip is determined using only the dependence of the aerodynamic forces and moments on the modulus and direction of the velocity. Analytic extrapolation factors are obtained for all 12 longitudinal plus 12 lateral stability derivatives of linear decoupled motion. The extrapolation factors relate the stability derivatives for two flight conditions with different airspeeds, angles of attack (AoA), and angles of sideslip (AoS). The extrapolation formulas were validated by comparison with results of computational fluid dynamics (CFD) using Reynolds-averaged Navier–Stokes (RANS) equations. The comparison concerns the extrapolated full longitudinal–lateral stability matrix from one landing and one takeoff condition of a V-tailed aircraft, to 10 other landing and takeoff flight cases with different airspeeds, AoAs, and AoSs. Thus, 420 comparisons were made between extrapolated stability derivatives and CFD–RANS results demonstrating the achievable levels of accuracy.

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Bai, Yunlong, Gang Li, Hongyao Jin y Ning Li. "Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions". Journal of Advanced Transportation 2022 (11 de agosto de 2022): 1–15. http://dx.doi.org/10.1155/2022/7344044.

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Aiming at the problem that it is difficult to ensure the trajectory tracking accuracy and driving stability of the distributed driven driverless formula racing car under high-speed tracking conditions, a lateral and longitudinal coordinated control strategy is proposed. Based on the adaptive model predictive control theory, the lateral motion controller is designed, and the prediction time domain of the controller is changed in real time according to the change of vehicle speed. Based on the sliding mode variable structure control theory, a longitudinal motion controller is designed to accurately track the desired vehicle speed. Considering the coupling between the lateral and longitudinal controls, the lateral controller inputs the longitudinal speed and displacement of the vehicle, using the feedback mechanism to update the prediction model in real time, the longitudinal controller takes the front wheel angle as the input, the driving torque is redistributed through the differential drive control, and the lateral and longitudinal coordinated control is carried out to improve the trajectory tracking accuracy and driving stability. The typical working conditions are selected for co-simulation test verification. The results show that the lateral and longitudinal coordinated control strategy can effectively improve the vehicle trajectory tracking control accuracy and driving stability.

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Zhang, Ailin, Shi Zhang, Xiaoda Xu, Haibin Zhong y Bo Li. "Variation Characteristics of the Wind Field in a Typical Thunderstorm Event in Beijing". Applied Sciences 12, n.º 23 (24 de noviembre de 2022): 12036. http://dx.doi.org/10.3390/app122312036.

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The understanding of wind field characteristics during thunderstorms is key to structural design for resistance to thunderstorms. In this paper, the directional thunderstorm wind model is adopted to analyze the characteristics of vertical variations of the wind field in a typical thunderstorm event in the Beijing urban area, based on the measured data. First, the longitudinal and lateral fluctuating wind speed components were decoupled and the change of direction was obtained. Then, variation of the wind speed, wind direction, turbulence intensity, turbulence integral length scale, and gust factor with the height and time were studied. The measured thunderstorm wind spectrum and the coherence function of horizontal longitudinal reduced turbulent fluctuations were analyzed and compared with empirical models. The results showed that the wind speed profile presented an obvious “nose shape” near the peak wind speed. The longitudinal turbulence integral scale was larger than the lateral one. The Von Karman spectrum is relatively effective in fitting the thunderstorm wind spectrum. Compared with synoptic winds, the gust factor during the pass of thunderstorm wind is larger, so it seems necessary to consider the influence of thunderstorm wind in engineering design.

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Sivaraj, D. "Vision Based Autonomous Lateral and Longitudinal Control System". International Journal of Instrumentation and Control Systems 2, n.º 4 (31 de octubre de 2012): 73–91. http://dx.doi.org/10.5121/ijics.2012.2407.

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Nilsson, Julia, Mattias Brannstrom, Jonas Fredriksson y Erik Coelingh. "Longitudinal and Lateral Control for Automated Yielding Maneuvers". IEEE Transactions on Intelligent Transportation Systems 17, n.º 5 (mayo de 2016): 1404–14. http://dx.doi.org/10.1109/tits.2015.2504718.

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Liu, Yalei, Weiping Ding, Mingliang Yang, Honglin Zhu, Liyuan Liu y Tianshi Jin. "Distributed Drive Autonomous Vehicle Trajectory Tracking Control Based on Multi-Agent Deep Reinforcement Learning". Mathematics 12, n.º 11 (21 de mayo de 2024): 1614. http://dx.doi.org/10.3390/math12111614.

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In order to enhance the trajectory tracking accuracy of distributed-driven intelligent vehicles, this paper formulates the tasks of torque output control for longitudinal dynamics and steering angle output control for lateral dynamics as Markov decision processes. To dissect the requirements of action output continuity for longitudinal and lateral control, this paper adopts the deep deterministic policy gradient algorithm (DDPG) for longitudinal velocity control and the deep Q-network algorithm (DQN) for lateral motion control. Multi-agent reinforcement learning methods are applied to the task of trajectory tracking in distributed-driven vehicle autonomous driving. By contrasting with two classical trajectory tracking control methods, the proposed approach in this paper is validated to exhibit superior trajectory tracking performance, ensuring that both longitudinal velocity deviation and lateral position deviation of the vehicle remain at lower levels. Compared with classical control methods, the maximum lateral position deviation is improved by up to 90.5% and the maximum longitudinal velocity deviation is improved by up to 97%. Furthermore, it demonstrates excellent generalization and high computational efficiency, and the running time can be reduced by up to 93.7%.

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Feng, Bao. "Robust Control for Lateral and Longitudinal Channels of Small-Scale Unmanned Helicopters". Journal of Control Science and Engineering 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/483096.

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Lateral and longitudinal channels are two closely related channels whose control stability influences flight performance of small-scale unmanned helicopters directly. This paper presents a robust control approach for lateral and longitudinal channels in the presence of parameter uncertainties and exogenous disturbances. The proposed control approach is performed by two steps. First, by performing system identification in frequency domain, system model of lateral and longitudinal channels can be accurately identified. Then, a robustH∞state feedback controller is designed to stabilize the helicopter in lateral and longitudinal channels simultaneously under extraneous disturbances situation. The proposed approach takes advantages that it reduces order of the controller by preestimating some parameters (like flapping angles) without sacrificing control accuracy. Numerical results show the reliability and effectiveness of the proposed method.

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Xu, Tao. "Dynamic analysis and vibration control for overhead hoist transport". Journal of Physics: Conference Series 2425, n.º 1 (1 de febrero de 2023): 012049. http://dx.doi.org/10.1088/1742-6596/2425/1/012049.

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Abstract The OHT system is a transport device used for intra- or inter-plant transport in a fab or other factory, the load-bearing part of the goods stored under the trolley generates longitudinal vibration and lateral oscillation due to inertia force When the OHT in the air starts or stops. Firstly, the trolley dynamic model under the action of lateral thrust and longitudinal tensile force need to be established. secondly, the coupling analysis of horizontal oscillation and longitudinal oscillation on the model is carried out. Thirdly, aiming at the lateral swing and longitudinal vibration of the carriage, a double closed-loop vibration control strategy with tension control as inner loop and speed control as outer loop and carry out the simulation analysis of longitudinal vibration control is proposed. In the experiment of the ground trolley, the control strategy is applied. The simulation and experimental results show that the control method can quickly restrain the longitudinal vibration of the trolley bearing plate, reduce the pulling force of the trolley on the lifting steel belt, and avoid the large displacement of the bearing plate in the air.

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Lai, Fei y Hui Yang. "Integrated Longitudinal and Lateral Control of Emergency Collision Avoidance for Intelligent Vehicles under Curved Road Conditions". Applied Sciences 13, n.º 20 (16 de octubre de 2023): 11352. http://dx.doi.org/10.3390/app132011352.

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The operation of the automatic emergency braking (AEB) system may lead to a significant increase in lateral offset of vehicles in curved road conditions, which can pose a potential risk of collisions with vehicles in adjacent lanes or road edges. In order to address this issue, this study proposes an integrated longitudinal and lateral control strategy for collision avoidance during emergency braking, which utilizes a control algorithm based on Time to Collision (TTC) for longitudinal control and a control algorithm based on yaw angle and preview point lateral deviation for lateral control. On one hand, the AEB system facilitates proactive longitudinal intervention to prevent collisions in the forward direction. On the other hand, the Lane Keeping Assist (LKA) system allows for lateral intervention, reducing the lateral offset of the vehicle during braking. To evaluate the effectiveness of this integrated control strategy, a collaborative simulation model involving Matlab/Simulink, PreScan, and CarSim is constructed. Under typical curved road conditions, comparative simulations are conducted among three different control systems: ➀ AEB control system alone; ➁ independent control system of AEB and LKA; and ➂ integrated control system of AEB and LKA. The results indicate that although all three control systems are effective in preventing longitudinal rear-end collisions, the integrated control system outperforms the other two control systems significantly in suppressing the vehicle’s lateral offset. In the scenario with a curve radius of 60 m and an initial vehicle speed of 60 km/h, System ➀ exhibits a lateral offset from the lane centerline reaching up to 1.72 m. In contrast, Systems ➁ and ➂ demonstrate significant improvements with lateral offsets of 0.29 m and 0.21 m, respectively.

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Li, Laëtitia, Brigitte d’Andréa-Novel y Arnaud Quadrat. "Longitudinal and lateral control for four wheel steering vehicles". IFAC-PapersOnLine 53, n.º 2 (2020): 15713–18. http://dx.doi.org/10.1016/j.ifacol.2020.12.2573.

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Attia, Rachid, Rodolfo Orjuela y Michel Basset. "Combined longitudinal and lateral control for automated vehicle guidance". Vehicle System Dynamics 52, n.º 2 (16 de enero de 2014): 261–79. http://dx.doi.org/10.1080/00423114.2013.874563.

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Kirchner, William T. y Steve C. Southward. "Adaptive vehicle traction control: combined longitudinal and lateral motion". International Journal of Dynamics and Control 1, n.º 3 (3 de agosto de 2013): 239–53. http://dx.doi.org/10.1007/s40435-013-0022-0.

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Chelaru, Teodor Viorel, Valentin Pana y Adrian Chelaru. "Longitudinal Control System Design Using Gradient Method for a Suborbital Launcher". Applied Mechanics and Materials 555 (junio de 2014): 113–20. http://dx.doi.org/10.4028/www.scientific.net/amm.555.113.

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The aim of this paper is to present a design method for the guidance navigation and control system (GNC) of a suborbital launcher. In order to achieve a symmetric evolution in the vertical plane we start with the decoupled form of the equation of motion. Afterwards these equations are linearized and the extended stability and command matrices are constructed by adding some auxiliary equations. The linear control law is obtained and the control matrix containing the unknown coefficients is presented. The design of the control system is based on a modified gradient method. To illustrate the proposed method the synthesis of the control system in the specific case of the SLT ("Suborbital Launcher for Testing - SLT" financed thru „Programme for Research-Development-Innovation on Space Technology and Advanced Research – STAR”) is presented.

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Tsugawa, Sadayuki. "An Overview on Control Algorithms for Automated Highway Systems". Journal of Robotics and Mechatronics 13, n.º 4 (20 de agosto de 2001): 381–86. http://dx.doi.org/10.20965/jrm.2001.p0381.

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This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, relative speed, and relative acceleration, some of which are obtained by the transmission over inter-vehicle communication rather the measurement, is used to maintain a predetermined gap in a platoon. Lateral and longitudinal vehicle control algorithms are explained with references to some systems developed since 1960's.

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Irmawan, Erwhin y Erwan Eko Prasetiyo. "Kendali Adaptif Neuro Fuzzy PID untuk Kestabilan Terbang Fixed Wing UAV (Adaptive Control of Neuro Fuzzy PID for Fixed Wing UAV Flight Stability)". Jurnal Nasional Teknik Elektro dan Teknologi Informasi 9, n.º 1 (5 de febrero de 2020): 73–78. http://dx.doi.org/10.22146/jnteti.v9i1.142.

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Unmanned Aerial Vehicle (UAV), especially fixed wing, are widely used to carry out various missions, namely civil and military missions. To support the implementation of this mission, it is necessary to develop an intelligent automatic control system (autopilot). In this paper, an autopilot system with adaptive neuro fuzzy PID control is developed to control lateral (pitch) and longitudinal (roll) motion, by taking advantage of PID, fuzzy, and neural network control. Therefore, robust controls which can handle non-linear conditions can be formed. This paper aims to determine the performance of adaptive control of neuro fuzzy PID controllers for longitudinal and lateral motion on UAV. The result shows that adaptive control of neuro fuzzy PID are able to control the lateral and longitudinal motion of the aircraft and able to compensate for interferences from environmental disturbances in flying condition, such as changes in direction and wind speed that causes changes in aircraft attitude. The control characteristics of neuro fuzzy PID adaptive control in lateral and longitudinal motion are relatively similar. Adaptive control of neuro fuzzy PID has better performance than fuzzy PID control, i.e., faster settling time and lower percentage of maximum overshoot.

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Young, G. E. y K. N. Reid. "Lateral and Longitudinal Dynamic Behavior and Control of Moving Webs". Journal of Dynamic Systems, Measurement, and Control 115, n.º 2B (1 de junio de 1993): 309–17. http://dx.doi.org/10.1115/1.2899071.

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A web refers to any material in continuous flexible strip form which is either endless or very long compared to its width, and very wide compared to its thickness. This paper discusses the dynamic analysis and control of the lateral and longitudinal motions of a moving web which correspond to fluctuations perpendicular and parallel, respectively, to the primary direction of web transport. Historical perspectives are provided, from the early work of Osborne Reynolds in the late 1800s to current research. An overview of the control of both lateral and longitudinal web motion, which includes the control of tension, is presented. Present limitations in understanding and controlling lateral and longitudinal web behavior are discussed. The Journal of Dynamic Systems, Measurement, and Control has played a pivotal role in the advancement of research in this area.

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Chu, Liang, Yong Sheng Zhang, Yan Ru Shi, Ming Fa Xu y Yang Ou. "Vehicle Lateral and Longitudinal Velocity Estimation Using Coupled EKF and RLS Methods". Applied Mechanics and Materials 29-32 (agosto de 2010): 851–56. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.851.

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In order to meet the cost requirement of lateral and longitudinal velocity measured directly in vehicle active safety control systems, based on 3-DOF vehicle model and the Recursive Least Squares (RLS) which can identify the tire cornering stiffness online, a control algorithm using Extended Kalman Filter(EKF) to estimate lateral and longitudinal velocity is proposed. The estimation values are compared with simulator values from CarSim. The compared results demonstrated that the proposed algorithm could estimate the lateral and longitudinal velocity accurately and robustly.

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Tao, Hua y Baocheng Yang. "Coordinated Control of Unmanned Electric Formula Car". World Electric Vehicle Journal 14, n.º 3 (24 de febrero de 2023): 58. http://dx.doi.org/10.3390/wevj14030058.

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The coordinated control method of Unmanned Electric Formula Racing (UEFC) was studied to improve the handling stability of UEFC. The UEFC’s mechanical structure, which is based on the driving system and transmission system, was designed. In accordance with mechanical structure of the designed racing car, a seven-degree of freedom mathematical model of the UEFC was established. In accordance with the built mathematical model of racing car, the lateral controller of racing car was designed by using a fuzzy neural network method. The longitudinal controller of the racing car was designed by using the method of incremental PID control, and the coordination controller of the racing car was designed by combining the lateral controller and the longitudinal controller so as to realize the lateral and longitudinal coordination control of the UEFC. The experimental results showed that the output parameters such as yaw rate, vehicle speed and heading angle were slightly different from the expected output. It was confirmed that the research method can enhance the handling stability of the UEFC.

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Zhang, Sheng y Xiangtao Zhuan. "Two-Dimensional Car-Following Control Strategy for Electric Vehicle Based on MPC and DQN". Symmetry 14, n.º 8 (17 de agosto de 2022): 1718. http://dx.doi.org/10.3390/sym14081718.

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For the coupling problem of longitudinal control and lateral control of vehicles, a two-dimensional (2-D) car-following control strategy for an electric vehicle is proposed in this paper. First, a 2-D car-following model for longitudinal following and lateral lane keeping is established. Then, a 2-D car-following control strategy is designed, and the longitudinal following control and lateral lane keeping control are integrated into one model predictive control (MPC) framework. The 2-D car-following strategy can realize the multi-objective coordinated optimization for longitudinal control and lateral control during the 2-D car-following process, and the multiple objectives are: safety, tracking, comfort, lane keeping, lateral stability and economy. In addition, the economy is important for electric vehicles. The weight matrix of the objective function in the MPC framework is symmetric, and the weight coefficients for the weight matrix have a great influence on the control. The contribution of this paper is: in order to adapt to different dynamic processes of lane keeping, the weight coefficients in the MPC framework are optimized in real-time based on the deep Q network (DQN) algorithm. Finally, to verify the 2-D car-following control strategy, a comparison strategy and two experimental scenarios are set, and simulation experiments are carried out. In scenario 1, compared with the comparison strategy, the lane keeping, lateral stability and economy of the proposed strategy are improved by 37.21%, 17.57% and 9.26%, respectively. In scenario 2, compared with the comparison strategy, the lane keeping, lateral stability and economy of the proposed strategy are improved by 36.45%, 16.66% and 18.52%, respectively. Therefore, compared with the comparison strategy, the 2-D car-following control strategy can have better lane keeping, lateral stability and economy on the premise of ensuring other performances during the 2-D car-following process.

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Mokhiamar, Ossama y Masato Abe. "Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control". Journal of Dynamic Systems, Measurement, and Control 126, n.º 4 (1 de diciembre de 2004): 753–63. http://dx.doi.org/10.1115/1.1850533.

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This paper presents a proposed optimum tire force distribution method in order to optimize tire usage and find out how the tires should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. The inputs to the optimization process are the driver’s commands (steering wheel angle, accelerator pedal pressure, and foot brake pressure), while the outputs are lateral and longitudinal forces on all four wheels. Lateral and longitudinal tire forces cannot be chosen arbitrarily, they have to satisfy certain specified equality constraints. The equality constraints are related to the required total longitudinal force, total lateral force, and total yaw moment. The total lateral force and total moment required are introduced using the model responses of side-slip angle and yaw rate while the total longitudinal force is computed according to driver’s command (traction or braking). A computer simulation of a closed-loop driver-vehicle system subjected to evasive lane change with braking is used to prove the significant effects of the proposed optimal tire force distribution method on improving the limit handling performance. The robustness of the vehicle motion with the proposed control against the coefficient of friction variation as well as the effect of steering wheel angle amplitude is discussed.

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Banjac, Goran, Momir Stanković y Stojadin Manojlović. "Active disturbance rejection control of unmanned tracked vehicle". Scientific Technical Review 72, n.º 2 (2022): 50–55. http://dx.doi.org/10.5937/str2202050b.

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Significant improvement of the unmanned vehicles possibility has achieved by increasing its autonomy, i.e. by excluding the human operator from the guidance loop. In this paper is considered the autonomous control of the unmanned tracked vehicle (UTV) in the presence of the unknown caterpillar tracks slippage. The longitudinal and lateral control model for the UTV path following problem are developed. To handle unknown uncertainties and slippage disturbances, the design of active disturbance rejection control (ADRC) for both, longitudinal and lateral control channels, are proposed. ADRC strategy is enabled that all the control channel uncertainties and disturbances are treated as one lumped (total) disturbance, which is defined as an extended system state and estimated by appropriate extended state observer (ESO). Further, applying the appropriate closed-loop control laws, based on the total disturbance estimation, the complex longitudinal and lateral control problems are reduced to disturbance-free model control. The numerical simulations for the different path following scenarios and caterpillar tracks slippage dynamics are given to verify effectiveness of the proposed UTV control.

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Wang, Hongbo, Youding Sun, Zhengang Gao y Li Chen. "Extension Coordinated Multi-Objective Adaptive Cruise Control Integrated with Direct Yaw Moment Control". Actuators 10, n.º 11 (6 de noviembre de 2021): 295. http://dx.doi.org/10.3390/act10110295.

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An adaptive cruise control (ACC) system can reduce driver workload and improve safety by taking over the longitudinal control of vehicles. Nowadays, with the development of range sensors and V2X technology, the ACC system has been applied to curved conditions. Therefore, in the curving car-following process, it is necessary to simultaneously consider the car-following performance, longitudinal ride comfort, fuel economy and lateral stability of ACC vehicle. The direct yaw moment control (DYC) system can effectively improve the vehicle lateral stability by applying different longitudinal forces to different wheels. However, the various control objectives above will conflict with each other in some cases. To improve the overall performance of ACC vehicle and realize the coordination between these control objectives, the extension control is introduced to design the real-time weight matrix under a multi-objective model predictive control (MPC) framework. The driver-in-the-loop (DIL) tests on a driving simulator are conducted and the results show that the proposed method can effectively improve the overall performance of vehicle control system and realize the coordination of various control objectives.

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Qin, Pinpin, Hongyun Tan, Hao Li y Xuguang Wen. "Deep Reinforcement Learning Car-Following Model Considering Longitudinal and Lateral Control". Sustainability 14, n.º 24 (13 de diciembre de 2022): 16705. http://dx.doi.org/10.3390/su142416705.

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The lateral control of the vehicle is significant for reducing the rollover risk of high-speed cars and improving the stability of the following vehicle. However, the existing car-following (CF) models rarely consider lateral control. Therefore, a CF model with combined longitudinal and lateral control is constructed based on the three degrees of freedom vehicle dynamics model and reinforcement learning method. First, 100 CF segments were selected from the OpenACC database, including 50 straight and 50 curved road trajectories. Afterward, the deep deterministic policy gradient (DDPG) car-following model and multi-agent deep deterministic policy gradient (MADDPG) car-following model were constructed based on the deterministic policy gradient theory. Finally, the models are trained with the extracted trajectory data and verified by comparison with the observed data. The results indicate that the vehicle under the control of the MADDPG model and the vehicle under the control of the DDPG model are both safer and more comfortable than the human-driven vehicle (HDV) on straight roads and curved roads. Under the premise of safety, the vehicle under the control of the MADDPG model has the highest road traffic flow efficiency. The maximum lateral offset of the vehicle under the control of the MADDPG model and the vehicle under the control of the DDPG model in straight road conditions is respectively reduced by 80.86% and 71.92%, compared with the HDV, and the maximum lateral offset in the curved road conditions is lessened by 83.67% and 78.95%. The proposed car following model can provide a reference for developing an adaptive cruise control system considering lateral stability.

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Cook, M. V., J. M. Lipscombe y F. Goineau. "Analysis of the stability modes of the non-rigid airship". Aeronautical Journal 104, n.º 1036 (junio de 2000): 279–90. http://dx.doi.org/10.1017/s0001924000091612.

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Abstract This paper describes and compares various analyses leading to the development of approximate models for the linear stability modes of the non-rigid airship. The progress of the analyses was variously dependent on assumptions made from the detailed scrutiny of linear numerical models for three airships. For each airship studied, the linear models were obtained from non-linear simulation models by linearising about a number of chosen trim speeds representative of a typical speed envelope. The decoupled linear models comprised the longitudinal and lateral-directional state equations of the neutrally buoyant airship, for speeds from the hover to 30m/sec. Since the fidelity of the earliest airship models was not known, the principal purpose of this paper is to re-visit the original analysis using a later airship model of known excellent fidelity. The longitudinal modes of the airship comprise the surge mode, the heave-pitch subsidence mode and the oscillatory pitch-incidence mode. The lateral-directional modes of the airship comprise the sideslip subsidence mode, the yaw subsidence mode and the oscillatory roll pendulum mode. Approximate models for these modes are derived and expressed in terms of concise aerodynamic stability derivatives. The mode characteristics are discussed, and the approximate models are compared with the actual airship modes over the typical airspeed envelope.

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Wang, Xinyu, Xiao Ye, Yipeng Zhou y Cong Li. "Path-Following Control of Unmanned Vehicles Based on Optimal Preview Time Model Predictive Control". World Electric Vehicle Journal 15, n.º 6 (21 de mayo de 2024): 221. http://dx.doi.org/10.3390/wevj15060221.

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In order to reduce the lateral error of path-following control of unmanned vehicles under variable curvature paths, we propose a path-following control strategy for unmanned vehicles based on optimal preview time model predictive control (OP-MPC). The strategy includes the longitudinal speed limit, the optimal preview time surface, and the model predictive control (MPC)controller. The longitudinal speed limit controls speed to prevent vehicle rollover and sideslip. The optimal preview time surface adjusts the preview time according to the vehicle speed and path curvature. The preview point determined by the preview time is used as the reference waypoint of OP-MPC controller. Finally, the effectiveness of the strategy was verified through simulation and with the real unmanned vehicle. The maximum lateral deviation obtained by the OP-MPC controller was reduced from 0.522 m to 0.145 m under the simulation compared with an MPC controller. The maximum lateral deviation obtained by the OP-MPC controller was reduced from 0.5185 m to 0.2298 m under the real unmanned vehicle compared with the MPC controller.

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Yu, Lingli, Yu Bai, Zongxv Kuang, Chongliang Liu y Hao Jiao. "Intelligent Bus Platoon Lateral and Longitudinal Control Method Based on Finite-Time Sliding Mode". Sensors 22, n.º 9 (20 de abril de 2022): 3139. http://dx.doi.org/10.3390/s22093139.

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Considering the rapid convergence of the longitudinal and lateral tracking errors of the platoon, a finite-time tracking control method for the longitudinal and lateral directions of the intelligent bus platoon is proposed. Based on the bus platoon model and desired motion trajectory, a distributed longitudinal and lateral finite-time sliding mode tracking control framework of the platoon is designed. Considering the finite-time convergence of the sliding mode of the system, a nonsingular integral terminal sliding mode (NITSM) is designed. An adaptive power integral reaching law (APIRL) is proposed for the finite-time accessibility of the system approaching mode. Based on NITSM-APIRL, a distributed longitudinal and lateral finite-time sliding mode tracking controller for the bus platoon is designed, and a Lyapunov function is created to analyze the finite-time stability and string stability of the system. Based on the Trucksim/Simulink joint simulation experiment platform, the control performance of the method is contrasted with the existing methods, and the actual vehicle test verification is completed by relying on the National Intelligent Connected Vehicle testing zone, which proves the practicability of the method.

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Xue, Qingwan, Xingyue Wang, Yinghong Li y Weiwei Guo. "Young Novice Drivers’ Cognitive Distraction Detection: Comparing Support Vector Machines and Random Forest Model of Vehicle Control Behavior". Sensors 23, n.º 3 (25 de enero de 2023): 1345. http://dx.doi.org/10.3390/s23031345.

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The use of mobile phones has become one of the major threats to road safety, especially in young novice drivers. To avoid crashes induced by distraction, adaptive distraction mitigation systems have been developed that can determine how to detect a driver’s distraction state. A driving simulator experiment was conducted in this paper to better explore the relationship between drivers’ cognitive distractions and traffic safety, and to better analyze the mechanism of distracting effects on young drivers during the driving process. A total of 36 participants were recruited and asked to complete an n-back memory task while following the lead vehicle. Drivers’ vehicle control behavior was collected, and an ANOVA was conducted on both lateral driving performance and longitudinal driving performance. Indicators from three aspects, i.e., lateral indicators only, longitudinal indicators only, and combined lateral and longitudinal indicators, were inputted into both SVM and random forest models, respectively. Results demonstrated that the SVM model with parameter optimization outperformed the random forest model in all aspects, among which the genetic algorithm had the best parameter optimization effect. For both lateral and longitudinal indicators, the identification effect of lateral indicators was better than that of longitudinal indicators, probably because drivers are more inclined to control the vehicle in lateral operation when they were cognitively distracted. Overall, the comprehensive model built in this paper can effectively identify the distracted state of drivers and provide theoretical support for control strategies of driving distraction.

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Kanat, Öztürk Özdemir, Ertuğrul Karatay, Oğuz Köse y Tuğrul Oktay. "Combined active flow and flight control systems design for morphing unmanned aerial vehicles". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, n.º 14 (mayo de 2019): 5393–402. http://dx.doi.org/10.1177/0954410019846045.

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In this article, combined active flow control system and flight control system design for morphing unmanned aerial vehicles is applied for the first time for autonomous flight performance maximization. For this purpose, longitudinal and lateral dynamics modeling of morphing unmanned aerial vehicle having active flow control manufactured in Erciyes University, Faculty of Aeronautics and Astronautics, Model Aircraft Laboratory is considered in order to obtain simulation environments. Our produced morphing unmanned aerial vehicle is called as ZANKA-II, which has a mass of 6.5 kg, range of 30 km, endurance of 0.5 h, and ceiling altitude of 6000 m. von Karman turbulence modeling is used in order to model atmospheric turbulence during flight in both longitudinal and lateral simulation environments. A stochastic optimization method called as simultaneous perturbation stochastic approximation is also applied for the first time in order to obtain optimum dimensions of morphing parameters (i.e. extension ratios of wingspan and tail span), optimum positions of blowers, and optimum magnitudes of longitudinal and lateral controllers' gains (i.e. P, I, and D gains) while minimizing cost index capturing terms for both longitudinal and lateral autonomous flight performances and there exist lower and upper constraints on all optimization variables in the literature.

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ZHAO, Jin y Abdelkader EL KAMEL. "Integrated Longitudinal and Lateral Control System Design for Autonomous Vehicles". IFAC Proceedings Volumes 42, n.º 19 (2009): 496–501. http://dx.doi.org/10.3182/20090921-3-tr-3005.00086.

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