Coordinated Control of Active Steering and Differential Braking Using Extended Command Governor for Rollover Avoidance

2017 ◽  
Author(s):  
Ran Tian ◽  
Ricardo Bencatel ◽  
Anouck Girard ◽  
Ilya Kolmanovsky
Keyword(s):  
Closed Loop ◽  
Load Transfer ◽  
Coordinated Control ◽  
Steering Control ◽  
Closed Loop Systems ◽  
Active Steering ◽  
Safe State ◽  
Nonlinear Vehicle Model ◽  
Previous Design ◽  
Vehicle Trajectory

This paper develops an Extended Command Governor (ECG) for coordinated control of active steering and differential braking to prevent a vehicle from rolling over when undergoing aggressive maneuvers. The ECG modifies commands to well-designed closed-loop systems when necessary to prevent constraint violations. In this paper, the ECG is applied to a nonlinear vehicle model to maintain the vehicle in a safe state. For rollover avoidance, the ECG is designed to intervene and modify the driver’s input steering and braking commands when it predicts these signals may be unsafe and cause violation of the Load Transfer Ratio constraint. Simulation results show that the ECG can successfully detect and correct the unsafe commands to prevent constraint violation. Moreover, the ECG also behaves less conservatively than a previous design that used active steering control only. Specifically, the ECG described in this work allows the vehicle trajectory to stay closer to the desired trajectory.

Nonlinear Vehicle Dynamics and Trailer Steering Control of the TowPlow, a Steerable Articulated Snowplowing Vehicle System

2015 ◽  
Vol 137 (8) ◽  
Author(s):  
Jae Young Kang ◽  
George Burkett ◽  
Duane Bennett ◽  
Steven A. Velinsky
Keyword(s):  
Load Transfer ◽  
Friction Model ◽  
Steering Control ◽  
Nonlinear Dynamic Model ◽  
Controlled System ◽  
System A ◽  
Active Steering ◽  
Tire Rotation ◽  
Tire Friction ◽  
Active Steering Control

The TowPlow is a novel type of snowplow that consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The system is used to plow two typical traffic lanes simultaneously. In this paper, a nonlinear dynamic model of the TowPlow is developed for longitudinal, lateral, and yaw motions. The model considers nonlinearity through a modified Dugoff’s tire friction model, tire rotation dynamics, and quasi-static load transfer. The model is verified through steady-state and transient tests on an actual TowPlow system. A new snow resistance model is developed to allow simulation of the TowPlow in snow clearing operations. Then, active steering control of the trailer axle is derived with the goal of improving safety and efficiency of the TowPlow. The comparison of the simulation results between the controlled system and the uncontrolled system for cornering, slalom, up and down hill, and split friction coefficient braking maneuvers clearly demonstrates the efficacy of active steering control for the trailer axle of the TowPlow.

METHOD OF SYNTHESIS OF CLOSED-LOOP SYSTEMS OF ACTIVE SHIELDING MAGNETIC FIELD OF POWER TRANSMISSION LINES

2016 ◽  
Vol 2016 (4) ◽  
pp. 8-10 ◽  
Author(s):  
B.I. Kuznetsov ◽  
◽  
A.N. Turenko ◽  
T.B. Nikitina ◽  
A.V. Voloshko ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Transmission Lines ◽  
Closed Loop ◽  
Power Transmission ◽  
Power Transmission Lines ◽  
Closed Loop Systems ◽  
Active Shielding

102-LB: Cross-Study Comparisons Done Right: An Illustration Using Two Pivotal Trials of Closed-Loop Systems

Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 102-LB
Author(s):  
MARC D. BRETON ◽  
ROY BECK ◽  
RICHARD M. BERGENSTAL ◽  
BORIS KOVATCHEV
Keyword(s):  
Closed Loop ◽  
Closed Loop Systems

Time in range for multiple technologies in type 1 diabetes: a systematic review and network meta-analysis

2020 ◽  
Author(s):  
Anthony Pease ◽  
Clement Lo ◽  
Arul Earnest ◽  
Velislava Kiriakova ◽  
Danny Liew ◽  
...  
Keyword(s):  
Systematic Review ◽  
Type 1 Diabetes ◽  
Closed Loop ◽  
Meta Analysis ◽  
Management Strategies ◽  
Glucose Testing ◽  
Closed Loop Systems ◽  
Percent Time ◽  
Time In Range

<b>Background: </b>Time-in-range is a key glycaemic metric, and comparisons of management technologies for this outcome are critical to guide device selection. <p><b> </b></p> <p><b>Purpose: </b>We conducted a systematic review and network meta-analysis to compare and rank technologies for time in glycaemic ranges.</p> <p> </p> <p><b>Data sources: </b>We searched All Evidenced Based Medicine Reviews, CINAHL, EMBASE, MEDLINE, MEDLINE In-Process and other non-indexed citations, PROSPERO, PsycINFO, PubMed, and Web of Science until 24 April, 2019.</p> <p> </p> <p><b>Study selection: </b>We included randomised controlled trials <u>></u>2 weeks duration comparing technologies for management of type 1 diabetes in adults (<u>></u>18 years of age), excluding pregnant women. </p> <p> </p> <p><b>Data extraction: </b>Data were extracted using a predefined template. Outcomes were percent time with sensor glucose levels 3.9–10.0mmol/l (70–180mg/dL), >10.0mmol/L (180mg/dL), and <3.9mmol/L (70mg/dL). </p> <p><b> </b></p> <p><b>Data synthesis: </b>We identified 16,772 publications, of which 14 eligible studies compared eight technologies comprising 1,043 participants. Closed loop systems lead to greater percent time-in-range than any other management strategy and was 17.85 (95% predictive interval [PrI] 7.56–28.14) higher than usual care of multiple daily injections with capillary glucose testing. Closed loop systems ranked best for percent time-in-range or above range utilising surface under the cumulative ranking curve (SUCRA–98.5 and 93.5 respectively). Closed loop systems also ranked highly for time below range (SUCRA–62.2). </p> <p><b> </b></p> <p><b>Limitations: </b>Overall risk of bias ratings were moderate for all outcomes. Certainty of evidence was very low.</p> <p><b> </b></p> <p><b>Conclusions: </b>In the first integrated comparison of multiple management strategies considering time-in-range, we found that the efficacy of closed loop systems appeared better than all other approaches. </p>

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