The notion of vehicles moving in platoons is of considerable interest when seeking to decrease traffic congestion and gas consumption. This usually means automated operation in longitudinal and possibly lateral direction. This report focuses on the lateral dynamics and control of a vehicle platoon following a leader in the lateral direction. A thorough… (More)
Synthesis of static anti-windup compensators is considered. LMI conditions are established for stability and performance analysis of the closed loop system. The performance criterion describes the servo problem for the resulting closed-loop piece-wise linear system. The synthesis of the anti-windup compen-sators will be given by some bilinear matrix… (More)
— We consider the problem of rear axle regenerative braking maximization in hybrid vehicles. We focus on cornering maneuvers on low friction surfaces, where excessive braking at the rear axle might induce vehicle instability. We present and compare two predictive control approaches, where the objective is maximizing the regenerative braking and distributing… (More)
The servo problem for a wide class of nonlinear system is considered. A quantitative bound on system trajectories is derived. For piecewise linear systems the bound is shown to be computable in terms of linear matrix inequalities.
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PID controller design is considered where optimal controller parameters are found with constraint on maximum sensitivity and robustness with regard to cone bounded static nonlinearity acting on the plant.