27,296 research outputs found
A new model-free design for vehicle control and its validation through an advanced simulation platform
A new model-free setting and the corresponding "intelligent" P and PD
controllers are employed for the longitudinal and lateral motions of a vehicle.
This new approach has been developed and used in order to ensure simultaneously
a best profile tracking for the longitudinal and lateral behaviors. The
longitudinal speed and the derivative of the lateral deviation, on one hand,
the driving/braking torque and the steering angle, on the other hand, are
respectively the output and the input variables. Let us emphasize that a "good"
mathematical modeling, which is quite difficult, if not impossible to obtain,
is not needed for such a design. An important part of this publication is
focused on the presentation of simulation results with actual and virtual data.
The actual data, used in Matlab as reference trajectories, have been obtained
from a properly instrumented car (Peugeot 406). Other virtual sets of data have
been generated through the interconnected platform SiVIC/RTMaps. It is a
dedicated virtual simulation platform for prototyping and validation of
advanced driving assistance systems. Keywords- Longitudinal and lateral vehicle
control, model-free control, intelligent P controller (i-P controller),
algebraic estimation, ADAS (Advanced Driving Assistance Systems).Comment: in 14th European Control Conference, Jul 2015, Linz, Austria. 201
Using CamiTK for rapid prototyping of interactive Computer Assisted Medical Intervention applications
Computer Assisted Medical Intervention (CAMI hereafter) is a complex
multi-disciplinary field. CAMI research requires the collaboration of experts
in several fields as diverse as medicine, computer science, mathematics,
instrumentation, signal processing, mechanics, modeling, automatics, optics,
etc
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