scholarly journals PD Steering Controller Utilizing the Predicted Position on Track for Autonomous Vehicles Driven on Slippery Roads

Algorithms ◽  
2020 ◽  
Vol 13 (2) ◽  
pp. 48 ◽  
Author(s):  
Natalia Alekseeva ◽  
Ivan Tanev ◽  
Katsunori Shimohara
Keyword(s):  
Autonomous Vehicles ◽  
Programming Models ◽  
Direct Result ◽  
Angular Deviation ◽  
Pd Controller ◽  
Extended Version ◽  
Control Loop ◽  
Yaw Control ◽  
Quality Of Control

Among the most important characteristics of autonomous vehicles are the safety and robustness in various traffic situations and road conditions. In this paper, we focus on the development and analysis of the extended version of the canonical proportional-derivative PD controllers that are known to provide a good quality of steering on non-slippery (dry) roads. However, on slippery roads, due to the poor yaw controllability of the vehicle (suffering from understeering and oversteering), the quality of control of such controllers deteriorates. The proposed predicted PD controller (PPD controller) overcomes the main drawback of PD controllers, namely, the reactiveness of their steering behavior. The latter implies that steering output is a direct result of the currently perceived lateral- and angular deviation of the vehicle from its intended, ideal trajectory, which is the center of the lane. This reactiveness, combined with the tardiness of the yaw control of the vehicle on slippery roads, results in a significant lag in the control loop that could not be compensated completely by the predictive (derivative) component of these controllers. In our approach, keeping the controller efforts at the same level as in PD controllers by avoiding (i) complex computations and (ii) adding additional variables, the PPD controller shows better quality of steering than that of the evolved (via genetic programming) models.

scholarly journals Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Algorithms ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 108 ◽  
Author(s):  
Natalia Alekseeva ◽  
Ivan Tanev ◽  
Katsunori Shimohara
Keyword(s):  
Genetic Programming ◽  
Autonomous Vehicles ◽  
Pid Controller ◽  
Control Model ◽  
Servo Control ◽  
Experimental Results ◽  
Pd Controller ◽  
Quality Of Control ◽  
Computing Paradigm

The most important characteristics of autonomous vehicles are their safety and their ability to adapt to various traffic situations and road conditions. In our research, we focused on the development of controllers for automated steering of a realistically simulated car in slippery road conditions. We comparatively investigated three implementations of such controllers: a proportional-derivative (PD) controller built in accordance with the canonical servo-control model of steering, a PID controller as an extension of the servo-control, and a controller designed heuristically via the most versatile evolutionary computing paradigm: genetic programming (GP). The experimental results suggest that the controller evolved via GP offers the best quality of control of the car in all of the tested slippery (rainy, snowy, and icy) road conditions.

Variable Deadband Sampling and T-S Fuzzy PID Co-Design for Optimizing QoS and QoP of Wireless Networked Control Systems

2013 ◽  
Vol 658 ◽  
pp. 502-507
Author(s):  
Guo Fu Tang ◽  
Yan Xin Zhang
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control ◽  
Network Services ◽  
Control Performance ◽  
Fuzzy Pid ◽  
Control Loop ◽  
Quality Of Control ◽  
Comparison Results

Variable deadband sampling is used in wireless networked control systems to reduce the network message. In this paper the T-S fuzzy PID with variable deadband sampling is designed to optimize the quality of network services and the quality of control performance in closed control loop. Furthermore, Kalman filtering algorithms dealing with variable deadband sampling are considered in the paper. The comparison results of proposed method and PID with period sampling are presented based on the extensive simulations by using TrueTime 1.5 toolbox for Matlab/simulink, and the simulation results verify the effectiveness of the proposed method.

Experience with the Relay Procedure for Tuning Controllers in Automatic Control of Chlorination

1993 ◽  
Vol 28 (11-12) ◽  
pp. 257-261
Author(s):  
M. Truett Garrett ◽  
Zaki Ahmad ◽  
Shelly Young
Keyword(s):  
Wastewater Treatment ◽  
Automatic Control ◽  
Time Constant ◽  
Wastewater Treatment Plants ◽  
Relay Feedback ◽  
Quality Of Control ◽  
Incomplete Mixing ◽  
Long Time ◽  
Chlorine Demand

The recent requirements by U.S.E.P.A. for dechlorination and biomonitoring have increased the importance of automatic control of effluent chlorination in wastewater treatment plants. Difficulties with the Ziegler-Nichols controller tuning procedure were reported at the Kyoto Workshop, 1990. Problems are caused by the noise of incomplete mixing, a long time constant, and the disturbances of changing flow and chlorine demand. The Astrom-Hagglund relay feedback procedure provides acceptable control while data is logged to determine the controller constants. Experiences in using the procedure in existing facilities (not redesigning the mixing point) and the quality of control are presented.

scholarly journals Quality of Control in the Tavis–Cummings–Hubbard Model

2021 ◽  
Author(s):  
R. Düll ◽  
A. Kulagin ◽  
W. Lee ◽  
Yu. Ozhigov ◽  
H. Miao ◽  
...  
Keyword(s):  
Hubbard Model ◽  
Quality Of Control

scholarly journals HGG-47. DECREASED GROWTH VELOCITY WITH LONG TERM USE OF BRAFV600e AND MEK INHIBITION IN A PATIENT WITH ANAPLASTIC GANGLIOGLIOMA

2020 ◽  
Vol 22 (Supplement_3) ◽  
pp. iii352-iii352
Author(s):  
Hung Tran ◽  
Robert Cooper
Keyword(s):  
Growth Velocity ◽  
Direct Result ◽  
Chromosomal Microarray ◽  
Mek Inhibition ◽  
Follow Up Study ◽  
The Family ◽  
The Relationship

Abstract PURPOSE To describe decreased growth velocity with long term use of BRAFV600e and MEK inhibition in a patient with anaplastic ganglioglioma. RESULTS 4-year-old patient was found to have a 6 x 4.6 x 5 cm mass in the hypothalamus. Pathology consistent with anaplastic ganglioglioma and chromosomal microarray revealed a BRAFV600e mutation. Patient started on dabrafenib and trametinib and tumor decreased 85% after 3 months. She is stable without significant toxicities 39 months on therapy, and is now 8 years old. Patient had been growing at the 25% for weight and 12% for height but is now 65% for weight and 0.5% for height. It is difficult to tease out the relationship between the tumor, the location of the tumor, and the BRAF and MEK inhibitors and their effect on growth. Discussions with the family and endocrinology are ongoing but being <1% for height will lead to decrease in quality of life. CONCLUSIONS Further follow-up study is needed to determine if this is truly a long-term toxicity, or if this may just be a direct result of the location of the tumor. Would supplementation with growth hormone in this patient lead to losing control of a high grade tumor, or would it simply replace a hormone that is not produced?

ON ASSESSMENT OF THE QUALITY OF CONTROL AND SORTING MACHINES. PART I

2021 ◽  
pp. 27-33
Author(s):  
YA.L. LIBERMAN ◽  
◽  
L.N. GORBUNOVA ◽  
Keyword(s):  
Quality Of Control

ENTREPRENEURIAL OPTIMISM, THE NATURE OF ENTREPRENEURIAL EXPERIENCE AND DEBT DECISION FOR BUSINESS START-UP

2018 ◽  
Vol 22 (03) ◽  
pp. 1850024 ◽  
Author(s):  
HÉDIA FOURATI ◽  
RIHAB BEN ATTITALAH
Keyword(s):  
Earnings Forecasts ◽  
Adjustment Cost ◽  
Debt Ratio ◽  
Entrepreneurial Experience ◽  
Panel Data Estimation ◽  
Quality Of Control ◽  
Start Up ◽  
Serial Entrepreneurs ◽  
Data Estimation

This paper studies the entrepreneurial optimism and debt decisions for business start-up. By analysing a sample of 160 business start-up and by using the panel data estimation, we study entrepreneurs’ optimism and its impact on debt decision of business start-up. The measure of entrepreneurial optimism is based on the entrepreneur earnings forecasts initiated by Lin et al. (2005). Meanwhile, the nature of entrepreneurial experience (serial and portfolio entrepreneur) has an effect on entrepreneurial optimism and leads to more or less optimistic entrepreneur. The results reveal that optimistic entrepreneur prefers equity in funding the financial deficit. Serial entrepreneurs tend to use more debt funding. In the dynamic model, the entrepreneur acquiring business concurrently adjusts slowly to debt ratio. Nevertheless, the sequential entrepreneurial experience leads to more optimism and so on more debt use. Given the governance role played by banks, the high adjustment cost for start-up is a consequence of the efficiency of the quality of control exercised by banks that in spite of entrepreneurial optimism, the entrepreneur does not convince the financiers to be so confident on the prospect of the business.

scholarly journals The sensorless control system for controlling the speed of direct current motor

2019 ◽  
Vol 16 (3) ◽  
pp. 1171
Author(s):  
Khac-Khiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Direct Current ◽  
Pid Controller ◽  
Closed Loop ◽  
Dc Motor ◽  
State Equation ◽  
Dynamic State ◽  
Estimation Model ◽  
Loop Control ◽  
Quality Of Control

<p>This research aims to propose an algorithm for controlling the speed of the Direct Current (DC) motor in the absence of the sensor of speed. Based on the initial mathematical model of DC motor, the authors build the dynamic state equation of DC motor, and then build an estimation model to determine the speed of the DC motor without a sensor. The advantages of the proposed method are demonstrated through the closed-loop control model using the PID controller. In order for the results to be objective, we assume that the parameters of the DC motor in the estimation model are not known correctly. The results show that the quality of control in the absence of a sensor is equivalent to the case with the sensor.</p>

scholarly journals GEOMETRIC ASPECTS EVALUATION OF GNSS CONTROL NETWORK FOR DEFORMATION MONITORING IN THE JATIGEDE DAM REGION

2019 ◽  
Vol 15 (2) ◽  
pp. 167
Author(s):  
Made Ditha Ary Sanjaya ◽  
T. Aris Sunantyo ◽  
Nurrohmat Widjajanti
Keyword(s):  
Least Squares ◽  
Deformation Monitoring ◽  
Network Configuration ◽  
Control Networks ◽  
Quality Of Control ◽  
Least Squares Adjustment ◽  
Standard Deviations ◽  
Dam Deformation ◽  
Gnss Networks

Many factors led to dam construction failure so that deformation monitoring activities is needed in the area of the dam. Deformation monitoring is performed in order to detect a displacement at the control points of the dam. Jatigede Dam deformation monitoring system has been installed and started to operate, but there has been no evaluation of the geometry quality of control networks treated with IGS points for GNSS networks processing. Therefore, this study aims to evaluate the geometric quality of GNSS control networks on deformation monitoring of Jatigede Dam area. This research data includes the GNSS measurements of five CORS Jatigede Dam stations (R01, GG01, GCP04, GCP06, and GCP08) at doy 233 with network configuration scenarios of 12 IGS points on two quadrants (jat1), three quadrants (jat2), and four quadrants (jat3 and jat4). GNSS networks processing was done by GAMIT to obtain baseline vectors, followed by network processing usingparameter method of least squares adjustment. Networks processing with least squares adjustment aims to determine the most optimal  by precision and reliability criterion. Results of this study indicate that network configuration with 12 IGS stations in the two quadrants provides the most accurate coordinates of CORS dam stations. Standard deviations value of CORS station given by jat1 configuration are in the range of 2.7 up to 4.1 cm in X-Z components, whereas standard deviations in the Y component are in the range 5.8 up to 6.9 cm. An optimization assessment based on network strength, precision, and reliability factors shows optimum configuration by jat1.

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