Implementation of an Active Suspension, Preview Controller for Improved Ride Comfort | p. 1 |
Introduction | p. 2 |
Controller Structure | p. 3 |
Force Tracking Controller | p. 3 |
Higher-level Controllers | p. 8 |
Preview Information | p. 11 |
Experimental Results | p. 13 |
Conclusions | p. 15 |
References | p. 18 |
HMMWV Equipment | p. 19 |
Test Track | p. 21 |
Nomenclature | p. 21 |
Active and Passive Suspension Control for Vehicle Dive and Squat | p. 23 |
Introduction | p. 24 |
Limitations Imposed by Passivity in Vehicle Suspension Design | p. 24 |
Suspension Geometry in the Half-car Trailing-arm Model | p. 27 |
Active Suspension Design for Independence of Disturbance Responses | p. 33 |
Active Suspension Design for the Trailing-arm Model | p. 36 |
References | p. 38 |
Modeling of Drivers' Longitudinal Behavior | p. 41 |
Introduction | p. 42 |
Material and Methods | p. 42 |
Results and Validation | p. 48 |
Conclusion | p. 52 |
References | p. 53 |
Nonlinear Adaptive Backstepping with Estimator Resetting using Multiple Observers | p. 59 |
Introduction | p. 60 |
Nonlinear Adaptive Backstepping | p. 62 |
Stability Analysis of Parameter Resetting | p. 65 |
Multiple Model Observer (MMO) | p. 71 |
A Second Order Benchmark System | p. 76 |
Wheel Slip Control | p. 77 |
Conclusions | p. 82 |
References | p. 82 |
ABS Control-A Design Model and Control Structure | p. 85 |
Introduction | p. 86 |
The Design Problem | p. 87 |
The Control Structure | p. 90 |
Simulation and Experimental Results | p. 93 |
Conclusion | p. 95 |
References | p. 95 |
Controller Design for Hybrid Systems using Simultaneous D-stabilisation and its Application to Anti-lock Braking Systems (ABS) | p. 97 |
Introduction | p. 98 |
Constraints for SSP with D-stable Regions | p. 101 |
Constraints for SSSP with D-stable Regions | p. 109 |
Numerical Solution Techniques for the SSP and SSSP | p. 111 |
Design Example and Application to ABS Control | p. 114 |
Conclusions | p. 119 |
References | p. 121 |
Wheel Slip Control in ABS Brakes using Gain-scheduled Constrained LQR | p. 125 |
Introduction | p. 126 |
Modelling | p. 126 |
Control Problem | p. 130 |
Gain-scheduled LQRC Controller Design and Analysis | p. 130 |
Implementation | p. 138 |
Experimental Results | p. 140 |
Discussion and Conclusions | p. 140 |
References | p. 144 |
Appendix-Details of Proof | p. 145 |
Friction Tire/Road Modeling, Estimation and Optimal Braking Control | p. 147 |
Introduction | p. 148 |
Road/Tire Contact Friction Models | p. 150 |
Higher-dimensional Models | p. 165 |
Road/Tire Friction Observers | p. 175 |
General Observer Design | p. 177 |
Optimal Braking | p. 184 |
Observed-based Emergency Braking Control | p. 195 |
Conclusions | p. 205 |
References | p. 206 |
Nonlinear Observer Control of Internal Combustion Engines with EGR | p. 211 |
Introduction | p. 212 |
Torque Control Feedforward Observer | p. 212 |
Closed-loop Observer | p. 217 |
Possible Improvements | p. 220 |
Conclusions | p. 224 |
Nomenclature | p. 225 |
References | p. 225 |
Idle Speed Control Synthesis using an Assume-guarantee Approach | p. 229 |
Introduction | p. 230 |
Plant Hybrid Model | p. 232 |
Idle Speed Control Design | p. 234 |
Closed-loop System Behavior Verification | p. 237 |
Conclusions | p. 242 |
References | p. 243 |
Fault Diagnosis of Switched Nonlinear Dynamical Systems with Application to a Diesel Injection System | p. 245 |
Introduction | p. 246 |
Discrete-event Behaviour of Switched Nonlinear Systems | p. 249 |
Requirements on Models Used for Diagnosis | p. 251 |
Consistency-based Diagnosis | p. 252 |
Representation of Quantised Systems by means of Automata | p. 254 |
A Diagnostic Algorithm for Quantised Systems | p. 256 |
Automotive Application: Fault Diagnosis of a Power Stage | p. 257 |
Conclusions | p. 260 |
References | p. 260 |
Modelling the Dynamic Behaviour of Three-way Catalytic Converters during the Warm-up Phase | p. 263 |
Motivations | p. 264 |
Basics of the TWC | p. 265 |
A Two-time-scale Infinite-adsorption Model of TWC | p. 268 |
Machine Learning for Reaction Kinetics | p. 275 |
A Phenomenological Model of TWC | p. 278 |
Conclusions | p. 283 |
Appendix-Mathematical Reduction Procedure | p. 283 |
Control of Gasoline Direct Injection Engines using Torque Feedback: A Simulation Study | p. 289 |
Introduction | p. 290 |
GDI Engines | p. 291 |
The GDI Benchmark | p. 292 |
The GDI Engine Model | p. 293 |
Core Control Strategies | p. 296 |
Controller Designs | p. 300 |
Core Controller Results | p. 307 |
A Complete Engine Management System | p. 309 |
Full Benchmark Results and Comparisons | p. 312 |
Torque Estimation and Sensing | p. 314 |
Conclusions | p. 316 |
References | p. 317 |
Closed-loop Combustion Control of HCCI Engines | p. 321 |
Homogeneous Charge Compression Ignition (HCCI) | p. 322 |
Closed-loop Control of Ignition Timing | p. 324 |
Closed-Loop Combustion Control of HCCI Engines | p. 326 |
Conclusion and Discussion | p. 332 |
References | p. 332 |
Approximations of Maximal Controlled Safe Sets for Hybrid Systems | p. 335 |
Introduction | p. 336 |
Definition and Properties of Controlled Safe Sets | p. 336 |
Inner Approximations of the Maximal Controlled Invariant Set | p. 339 |
An Example of Application | p. 345 |
Conclusions | p. 348 |
References | p. 348 |
Hamiltonian Formulation of Bond Graphs | p. 351 |
Introduction | p. 352 |
Bond Graph Models | p. 352 |
Dirac Structures | p. 354 |
Geometric Formulation of a Bond Graphs | p. 355 |
Well-posedness and Equation Suitable for Numerical Simulation | p. 358 |
Index of System | p. 364 |
Example | p. 366 |
Conclusion | p. 371 |
References | p. 371 |
Stability Analysis of Hybrid Systems -A Gearbox Application | p. 373 |
Introduction | p. 374 |
Application and Hybrid Model | p. 375 |
Exponential Stability | p. 378 |
Linear Matrix Inequalities | p. 380 |
Stability of the Gearbox Application | p. 385 |
Conclusions | p. 387 |
References | p. 387 |
On the Existence and Uniqueness of Solution Trajectories to Hybrid Dynamical Systems | p. 391 |
Introduction | p. 392 |
Model Classes | p. 393 |
Solution Concepts | p. 396 |
Well-posedness Notions | p. 399 |
Well-posedness of Hybrid Automata | p. 400 |
Well-posedness of Multi-modal Linear Systems | p. 403 |
Complementarity Systems | p. 405 |
Differential Equations with Discontinuous Right Hand Sides | p. 413 |
Summary | p. 419 |
References | p. 419 |
Author List | p. 423 |
Author Index | p. 429 |
Subject Index | p. 435 |
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