Virtual Sensor: Simultaneous State and Input Estimation for Nonlinear Interconnected Ground Vehicle System Dynamics.

This paper proposes a new observer approach used to simultaneously estimate both vehicle lateral and longitudinal nonlinear dynamics, as well as their unknown inputs. Based on cascade observers, this robust virtual sensor is able to more precisely estimate not only the vehicle state but also human driver external inputs and road attributes, including acceleration and brake pedal forces, steering torque, and road curvature. To overcome the observability and the interconnection issues related to the vehicle dynamics coupling characteristics, tire effort nonlinearities, and the tire-ground contact behavior during braking and acceleration, the linear-parameter-varying (LPV) interconnected unknown inputs observer (UIO) framework was used.

Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller.

Lane-keeping assistance design for road vehicles is a multi-objective design problem that needs to simultaneously maintain lane tracking, ensure driver comfort, provide vehicle stability, and minimize conflict between the driver and the autonomous controller. In this work, a cooperative control strategy is proposed for lane-keeping keeping by integrating driving monitoring, variable level of assistance allocation, and human-in-the-loop control. In the first stage, a time-varying physical driver loading pattern is identified based on a relationship between lateral acceleration, road curvature, and the measured maximum driver torque.

Trajectory tracking control of a coaxial rotor drone: Time-delay estimation-based optimal model-free fuzzy logic approach.

This paper proposes a control algorithm for controlling the position and attitude of a coaxial rotor drone without knowing the model dynamics. To overcome the major drawback of model-dependent approaches, an optimal model-free fuzzy controller (OMFFC) based on the estimation of the unknown dynamic function of the system is proposed. A time-delay estimation (TDE) technique is effectively exploited to approximate the unknown dynamic function of the system.