Alex Ferrara

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In the short term future, cybernetic transport systems (CTS), based on fully automated urban vehicles (the so-called Cybercars), will be seen on city roads and on new dedicated infrastructures. The objective of the Cybercars is to achieve a more effective organization of urban transport, resulting in a more rational use of motorized traffic, with less(More)
Recent research has demonstrated that longitudinal control strategies are useful in highway systems to regulate the spacing and velocity of vehicles. In this paper, a robust longitudinal control system for platoons of vehicles is designed. The proposed control scheme is composed of two different loops: the outer loop has to determine the traction force(More)
This paper proposes a practical parameters identification procedure for robot manipulators. It is based on the well-known maximum likelihood method adopting particular techniques to facilitate the estimation: condition number reduction methods for the input data matrix with optimal trajectory planning, and two different methods for variances estimation.(More)
Longitudinal control of platoons of vehicles is appropriate to improve the traffic capacity of road networks while maintaining safety distances between vehicles. This paper investigate the possibility of reducing the number of accidents involving pedestrians or other vulnerable road users, like cyclists and motorcyclists, by providing the control systems of(More)
— In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and the wide range of operating conditions, which are typical of the automotive context, a robust control technique is required to solve this problem. In this paper, two different robust control(More)
SUMMARY In this paper, a novel hierarchical multirate control scheme for nonlinear discrete-time systems is presented, consisting of a robust nonlinear model predictive controller (NMPC) and a multirate sliding mode disturbance compensator (MSMDC). The proposed MSMDC acts at a faster rate than the NMPC in order to keep the system as close as possible to the(More)
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