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Advances in Automotive Control 1995. A Postprint Volume from by L. Guzzella, U. Kiencke

By L. Guzzella, U. Kiencke

Car keep watch over is a swiftly constructing box for either researchers and business practitioners. the sphere itself is huge ranging and contains engine regulate, car dynamics, on-board prognosis and motor vehicle regulate matters in clever car road systems.

Leading researchers and business practitioners have been capable of talk about and assessment present advancements and destiny study instructions on the first overseas IFAC workshop on car regulate. This e-book includes the papers protecting a variety of themes provided on the workshop

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Additional info for Advances in Automotive Control 1995. A Postprint Volume from the IFAC Workshop, Ascona, Switzerland, 13–17 March 1995

Example text

J— u• V /At I n - : : • the reference position must be equal to the target position in static cases . ,i: ,,ι -h ,! ί : -4-4-: l l l i l l i 4 ~ i : ! Λ Li H-i-4* ? 1 1 i i -τ-îι Μ- Ι • velocity must be limited • the control has to slow down in proximity to the target position for reducing overshoot • In case of saturation of the actuator, a feedback to the reference filter must avoid excessive difference between target position and measured position. fig. 4 PID controller in idle position 31 DIGITAL CONTROLLER WITH OBSERVER fig.

A - 4- 1 - · JA ·* - ' - · · Fig. 15 Response of an adaptive neural-controller for a 5 cm step —····© * » • input (simulation) controller seconds 52 The response in both cases are similar because the learning procedure has not enough information and time to modify the sinaptic weights in the neuro-controller. We have continued our experiment with a sinus excitation of 10 Hz for the road input and simultaneously a change of 100% of the mass of the body and the damping ratio (initial values divided by 2).

37 provides the best yaw rate response in the sense of minimizing (14). 45. In the responses of other regulated variables no significant differences are observed between those closed-loop systems. 37) and the dashed line corresponds to the open-loop system. In order to solve the regulation problem, an II ^ optimal design approach is utilized. The driver's steering input is modeled as a plant disturbance because it has a considerable effect on the regulated variables. As an inherent disadvantage of the (output feedback) H^ design procedure, the resulting controller has the same order as the open-loop system, which is 21.

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