Steering Control Research Articles

Effect of acidosis in the late-finishing phase on rumen fermentation in feedlot steers.

The objective was to determine the effects of induced acidosis in the late-finishing phase on rumen fermentation in feedlot steers. Eleven ruminally cannulated steers (body weight [BW] = 795 kg ± 54) were blocked into two groups based on initial BW. For 195 d prior to the start of the study, cattle were consuming a basal finishing diet (60% dry-rolled corn, 15% modified distillers grains, 15% corn silage, and 10% ground corn-based supplement). Steers were randomly assigned to one of the two treatments: control (CON), or induced acidosis (ACD). Both treatments were fasted for 24h then fed the basal finishing diet. Steers on the ACD treatment received 0.05% of BW of wheat starch via rumen cannula at 0800 and 2000 hours on day 1 and ad libitum refeeding following the fast. On days 1 and 2, CON steers were provided 25% of allotted feed every 6h. Rumen fluid was collected every 4h during the challenge period (hours 0 to 48), and 0, 6, and 12h after feeding during the recovery period (hours 54 to 96). Rumen fluid was analyzed for pH, ammonia, volatile fatty acids (VFA), and lactate. Fecal grab samples were collected every 8h to determine fecal pH. A treatment × day interaction (P = 0.03) was observed for dry matter intake during the challenge period with steers on the ACD treatments consuming more on day 1 than CON steers. Intake was not different on day 2 (P = 0.88). A treatment × hour effect (P < 0.01) was observed for ruminal pH during the challenge period with the ACD steers having a lesser pH than CON from hours 12 to 32. Duration of time below a pH of 5.6 during the challenge period was greater (P < 0.01) for ACD steers than CON. During the challenge period, a treatment × time interaction (P = 0.04) was observed for total VFA concentration with ACD steers having greater total VFA concentration from hours 12 to 36. Acetate to propionate ratio (A:P) was affected by treatment × hour (P = 0.04) with CON steers having greater A:P from hours 28 to 48. Rumen ammonia and lactate concentrations did not differ (P ≥ 0.25) between treatments or the interaction with time. Challenge and recovery period fecal pH were not affected (P ≥ 0.13) by treatment, time, or their interaction. Recovery period ruminal pH was not different (P = 0.99) between treatments. For the recovery period, total VFA and ammonia concentration were not affected by treatment, time, or their interaction (P ≥ 0.07). Ruminal pH and VFA were affected in the initial 48h of induced acidosis in the late-finishing phase.

Control of Pivot Steering for Bilateral Independent Electrically Driven Tracked Vehicles Based on GWO-PID

In this study, the optimization problem for controlling the pivot steering function of tracked vehicles is addressed. Firstly, kinematic modeling of the pivot steering process of tracked vehicles is conducted. Secondly, the control system of tracked vehicles is decoupled, and PID control algorithms for vehicle speed and yaw rate are separately designed. Furthermore, the parameters of the PID controllers are optimized using the Grey Wolf Optimizer algorithm. Finally, by constructing a joint simulation model using Matlab/Simulink + RecurDyn (V9R4), the simulation results indicate that the above control algorithm can effectively improve the tracking speed of tracked vehicles on vehicle speed and yaw rate under the pivot steering condition, quickly respond to the driver’s driving intention, and ensure the stability of the pivot steering process, providing an effective basis for further research on the pivot steering function of tracked vehicles.

3-D Impact Time and Angle Control Guidance Law Based on Sliding Mode without Speed Control

In modern warship, coordinated combat strategies require missiles hit targets simultaneously, sometimes even require angle constraints, which is difficult to replicate in three-dimensional (3-D) models. This paper proposes a novel 3-D sliding mode guidance law with multiple constraints. First, the 3-D no-thrust guidance model is derived in the coordinate system with [Formula: see text]-axis upward. Second, a novel guidance strategy is proposed. In pitch direction, a fast nonsingular sliding mode surface algorithm is proposed to satisfy the desired line-of-sight elevation angle. In yaw direction, based on the guidance conditions, a special sliding mode surface is proposed, which can achieve desired line-of-sight azimuth angle and desired impact time when reaching the sliding surface. Finally, simulations and comparisons verify the good performance.

Research on Stability Control of Distributed Drive Vehicle with Four-Wheel Steering

The four-wheel steering distributed drive vehicle is a novel type of vehicle with independent control over the four-wheel angle and wheel torque. A method for jointly controlling the distribution of the wheel angle and torque is proposed based on this characteristic. Firstly, the two-degrees-of-freedom model and ideal reference model of four-wheel steering vehicle are established; then, the four-wheel steering controller and torque distribution controller are designed. The rear wheel angle is controlled by the feedforward controller and the feedback controller. The feedforward controller takes the side slip angle of the center of mass as the control target, and the feedback controller takes the yaw angle as the control target. Torque is controlled by two control layers, the additional yaw moment of the upper layer is calculated by the vehicle motion state and fuzzy control theory, and the lower layer distributes wheel torque through the road adhesion coefficient and wheel load. Finally, a simulation platform is established to verify the effectiveness of the proposed control algorithm.

Striving for Improved Infection Prevention and Control Practice: A Grounded Theory of Healthcare Workers' Struggles in Implementing Infection Prevention and Control Guidance in Uganda.

There is a scarcity of qualitative research focusing on the implementation of infection prevention and control (IPC) guidance in low-income countries. This study aimed to address this gap by exploring the perspectives of healthcare workers (HCWs) regarding the implementation of IPC guidance at the healthcare facility level in Uganda. The study also sought to generate a theoretical understanding of the processes involved in implementing IPC guidance in these settings. This robust qualitative research employed a design based on constructivist grounded theory methodology, conducting individual interviews with 13 frontline health workers such as doctors, nurses, nurse interns, and laboratory staff. The key findings of the study revealed that HCWs undergo a process of 'striving for improved practice' in their efforts to implement IPC guidance. This process involved four phases: recognising the importance of IPC, playing a role, encountering challenges, and overcoming challenges. However, achieving full implementation proved difficult due to various individual and organisational barriers presented by the low-income setting. HCWs employed improvisation as a means to overcome these obstacles. Additionally, the study identified enabling factors that facilitated the implementation of IPC guidance within these settings. This study is significant as it applies robust qualitative research methods to provide valuable evidence of HCWs' perspectives on an important topic in an under-researched context, with findings transferable to similar settings.

An Iterative Adaptive Dynamic Programming Approach for Macroscopic Fundamental Diagram-Based Perimeter Control and Route Guidance

Macroscopic fundamental diagrams (MFDs) have been widely adopted to model the traffic flow of large-scale urban networks. Coupling perimeter control and regional route guidance (PCRG) is a promising strategy to decrease congestion heterogeneity and reduce delays in large-scale MFD-based urban networks. For MFD-based PCRG, one needs to distinguish between the dynamics of (a) the plant that represents reality and is used as the simulation tool and (b) the model that contains easier-to-measure states than the plant and is used for devising controllers, that is, the model-plant mismatch should be considered. Traditional model-based methods (e.g., model predictive control (MPC)) require an accurate representation of the plant dynamics as the prediction model. However, because of the inherent network uncertainties, such as uncertain dynamics of heterogeneity and demand disturbance, MFD parameters could be time-varying and uncertain. Conversely, existing data-driven methods (e.g., reinforcement learning) do not consider the model-plant mismatch and the limited access to plant-generated data, for example, subregional OD-specific accumulations. Therefore, we develop an iterative adaptive dynamic programming (IADP)-based method to address the limited data source induced by the model-plant mismatch. An actor-critic neural network structure is developed to circumvent the requirement of complete information on plant dynamics. Performance comparisons with other PCRG schemes under various scenarios are carried out. The numerical results indicate that the IADP controller trained with a limited data source can achieve comparable performance with the “benchmark” MPC approach using perfect measurements from the plant. The results also validate the IADP’s robustness against various uncertainties (e.g., demand noise, MFD error, and trip distance heterogeneity) when minimizing the total time spent in the urban network. These results demonstrate the great potential of the proposed scheme in improving the efficiency of multiregion MFD systems. Funding: The work was jointly funded by the National Natural Science Foundation of China under [Grant 72071214] (R. Zhong), the Dit4Tram project from the European Union’s Horizon 2020 Research and Innovation Programme under [Grant 953783] (N. Geroliminis), and the Research Student Attachment Programme of The Hong Kong Polytechnic University (C. Chen). Supplemental Material: The online appendix is available at https://doi.org/10.1287/trsc.2023.0091 .

Reprogrammable reflection-transmission integrated coding metasurface for real-time terahertz wavefront manipulations in full-space

In recent years, there has been notable advancement in programmable metasurfaces, primarily attributed to their cost-effectiveness and capacity to manipulate electromagnetic (EM) waves. Nevertheless, a significant limitation of numerous available metasurfaces is their capability to influence wavefronts only in reflection mode or transmission mode, thus catering to only half of the spatial coverage. To the best of our knowledge and for the first time, a novel graphene-assisted reprogrammable metasurface that offers the unprecedented capability to independently and concurrently manipulate EM waves within both half-spaces has been introduced in the THz frequency band. This intelligent programmable metasurface achieves wavefront control in reflection mode, transmission mode, and the concurrent reflection-transmission mode, all within the same polarization and frequency channel. The meta-atom is constructed with two graphene sections, enabling straightforward modification of wave behavior by adjusting the chemical potential distribution within each graphene segment via an external electronic source. The proposed functionalities encompass various programmable modes, including single and dual beam control in reflection mode, dual beam control in transmission mode, simultaneous control of dual beams in reflection mode-direct transmission, and vice versa, and control of beam steering in reflection mode-dual beams in transmission mode simultaneously. The proposed metasurface is expected to be reprogrammable due to wavefront manipulation in both half-spaces separately and continuously for various applications such as imaging systems, encryption, miniaturized systems, and next-generation wireless intelligent communications.

Searching for a Cheap Robust Steering Controller

The study of lateral steering control for Automated Driving Systems identifies new control solutions more often than new control problems. This is likely due to the maturity of the field. To prevent repeating efforts toward solving already-solved problems, what is needed is a cohesive way of evaluating all developed controllers under a wide variety of environmental conditions. This work serves as a step in this direction. Four controllers are tested on five maneuvers representing highways and collision avoidance trajectories. Each controller and maneuver combination is repeated on five sets of environmental conditions or Operational Design Domains (ODDs). The design of these ODDs ensures the translation of these experimental results to real-world applications. The commercial software, CarSim 2020, is extended with Simulink models of the environment, sensor dynamics, and state estimation performances to perform highly repeatable and realistic evaluations of each controller. The results of this work demonstrate that most of the combinations of maneuvers and ODDs have existing cheap controllers that achieve satisfactorily safe performance. Therefore, this field’s research efforts should be directed toward finding new control problems in lateral path tracking rather than proposing new controllers for ODDs that are already solved.

Radiation Properties of Two Elements Microstrip Antenna Array at Microwave Frequencies

One of the key challenges in developing radio communication systems is the creation of tiny solid-state radiation sources, particularly in the microwave and millimeter range.An antenna serves as the efficient interface between electronic circuits and the external environment, making it a crucial element in the growing trend of using high frequencies in contemporary wireless communications.The card actively contributed to the development of several subsystems for an active monolithic Phased Array Antenna, which utilizes solutions in space technology and antenna technologies operating at frequencies of around 30 GHz and 28 GHz, such as Local Multipoint Distribution (LMDS). This document primarily focuses on the study method and the two components of active patch arrays. The radiation models were computed utilizing the cavity plate model, the Simple Green model, and the rigorous commercial Electromagnetic Simulator. The active rectangular patches with the Gann diode were reconfigured and assembled into arrays in the E-plane and H-plane. The calculated and measured findings for both active arrays have proved the potential for beam scanning. All three models have accurately projected radiation levels across a wide range of steering controls. To ensure stable operation, a thin dielectric layer was positioned in front of the H plane of the array. The impact of the dielectric layer on the even and odd modes of the array has been demonstrated.

Autonomous navigation and steering control based on wireless non-wheeled snake robot

Abstract This paper mainly studies an autonomous path-planning and real-time path-tracking optimization method for snake robot. Snake robots can perform search and rescue, exploration, and other tasks in a variety of complex environments. Robots with visual sensors such as LiDAR can avoid obstacles in the environment through autonomous navigation to reach the target point. However, in an unstructured environment, the navigation of snake robot is easily affected by the external environment, causing the robot to deviate from the planned path. In order to solve the problem that snake robots are easily affected by environmental factors in unstructured environments, resulting in poor path-following ability, this paper uses the Los algorithm combined with steering control to plan the robot in real time and control the robot’s steering parameters in real time, ensuring that the robot can stably follow the planned path.

Distributed-Drive Vehicle Lateral-Stability Coordinated Control Based on Phase-Plane Stability Region

The lateral stability control of vehicles is one of the most crucial aspects of vehicle safety. This article introduces a coordinated-control strategy designed to enhance the handling stability of distributed-drive electric vehicles. The upper controller uses active front steering and direct yaw moment-control controllers designed based on sliding-mode control theory. The lower controller optimally allocates control inputs to the upper controller, considering factors such as load transfer and tire load rate. It divides the stability region by relying on the phase plane and develops a coordinated-control strategy based on the degree of deviation of the vehicle state from the stability region. The results of the simulation experiments demonstrate that the proposed control strategy effectively improves handling stability under extreme working conditions.

Electric Vehicle Steering System Fuzzy Modeling and Controller Design

Electric vehicle (EV) steering control becomes much more important in many senses such as driving comfort and safety. Unlike the traditional internal combustion engine powered vehicles that possess only one control input related to the steering wheel, the so‐called direct yaw moment control is yet another control input in EVs thanks to the dispersedly located in‐wheel motors. In view of controller design crucially depending on a proper mathematical model, this paper first focuses on the modeling of EV steering system with uncertainty in the system considered for the latter robust controller design. Then a Takagi‐Sugeno (T‐S) fuzzy model is obtained based on the EV's model, which is capable of varying vehicle velocity in a range. Finally, a robust controller with inputs constraint is designed based on the model, and the effectiveness is verified by computer simulations. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

Density control in pedestrian evacuation with incorrect feedback information: Data correction

Improving evacuation efficiency is a central concern in evacuation simulation research. Incorrect feedback information can affect the effectiveness of evacuation control in partially observable evacuation. In this paper, we introduce a framework for evacuation guidance control, emphasizing data prediction and correction to mitigate the impact of abnormal observed data. The framework is built upon force-driven Cellular Automaton (CA) models and employs a data correction module to rectify abnormal information. Guided by this framework, we implement the data correction module’s functionality using Back Propagation (BP) neural networks. We utilize historical simulation data to train the BP network, obtaining a model for correcting abnormal data. Additionally, we integrate the data correction model with density control algorithms to facilitate pedestrian flow management in abnormal evacuation scenarios. Subsequently, we conduct two comparative simulation experiments to verify the algorithm’s effectiveness. One experiment utilizes an abnormal data replacement method, while the other employs a data correction method. The results show that the method of abnormal data replacement is simple, but it cannot improve the control efficiency in abnormal evacuation scenarios. The data correction method proposed in this paper can effectively improve evacuation efficiency and alleviate the congestion at exits caused by abnormal data, which reduces evacuation efficiency. The results are expected to provide insights into improving evacuation systems’ efficiency and personnel safety.

298 Impact of ruminal acidosis on cattle energy metabolism

Abstract The objective of this study was to determine the impact of a bout of ruminal acidosis on energy metabolism of cattle unadapted to a high concentrate diet. Eleven ruminally cannulated steers [body weight (BW) = 352 kg ± 27] were blocked into 3 groups based on initial BW. Before the start of the experiment, animals were consuming a forage-based diet as well as adapted to the headbox style respiration chambers. Additionally, before the experiment, gas emission data were collected over a 24-h period when cattle received an ad libitum forage-based diet for use as a covariate in the statistical analysis. For the experiment, steers were moved into headboxes at the conclusion of a 24-h fast and subsequently received 1 of 2 treatment diets: control (CON), forage-based diet or acidosis (AC), concentrate-based diet. Steers remained in the headboxes for 48 h. Gas concentrations from each headbox were collected hourly and analyzed with an infrared photoacoustic gas analyzer. Ruminal pH, fecal pH, volatile fatty acids, and lactate were also measured during the acidosis challenge. Data were analyzed with the MIXED procedure of SAS 9.4. A treatment × day effect (P = 0.03) was observed for dry matter intake with intake being similar for both CON and AC steers on d 1 but AC steers consuming 2.02 kg less on d 2. Treatment affected ruminal pH (P &amp;lt; 0.01) as CON steers had a greater ruminal pH than AC steers. Greater total volatile fatty acids (P &amp;lt; 0.01) were observed for steers on AC treatment compared with CON. A treatment × time interaction (P &amp;lt; 0.01) was observed for ruminal lactate concentration with AC steers having greater concentrations from h 16 to 36. Fecal pH was affected by a treatment × time interaction (P = 0.05) as AC steers had lower fecal pH from h 24 to h 32. Over the 48-h observation period, there was a treatment × time interaction (P = 0.04) for carbon dioxide production as AC steers produced less CO2 after h 24. No treatment × time interaction was detected for oxygen consumption. However, there was a time effect (P &amp;lt; 0.01). Respiratory quotient was not affected by treatment, day, or their interaction (P ≥ 0.19). Heat production tended (P = 0.06) to be different between treatments, with AC having less heat production than CON. Thus, the effects of ruminal acidosis on gas emissions and energetics may be more transient during the time course of an acidotic bout or have a longer duration even after ruminal pH has recovered.

296 Effects of dietary antimicrobials on the ruminant gastrointestinal tract microbiome

Abstract Monensin, tylosin, and chlortetracycline (CTC) are antimicrobials frequently employed in high grain feedlot cattle diets to inhibit liver abscesses and enhance growth. However, increased public concerns regarding antibiotic resistance have created a pressing need to develop alternative strategies. A more mechanistic understanding of how antimicrobial drugs effect the microbiome in the ruminant gastrointestinal tract (GIT) may help develop effective alternatives. Therefore, the objective of this study was to determine changes in the GIT microbiome of grain-fed feedlot steers after antimicrobial drug administration. Thirty individually housed Angus x Simmental steers [body weight (BW) = 355 ± 16.8 kg] previously fed a 56% forage diet were immediately transitioned to a 93% concentrate diet and assigned to one of three treatments (10 steers/treatment): 1) control, without antibiotics, 2) 75 mg of tylosin and 200 mg of monensin per animal per day (TYLMON), and 3) 70 mg of CTC per animal per day. Fecal samples were collected on d 0, 7, 14, 28, 56, 112, and at slaughter and digesta were obtained from the rumen, jejunum, and cecum at slaughter. DNA was extracted from samples, amplified via 16S PCR, and sequenced. Jejunal samples had the least alpha diversity compared with ruminal, cecal, or fecal samples (P &amp;lt; 0.001). There were no differences in measures of alpha diversity in the ruminal, jejunal, or cecal digesta at slaughter (P ≥ 0.10). However, overall measures of alpha diversity (Shannon entropy, observed features) in feces were greater in CTC-fed steers (P ≤ 0.009) as well as in TYLMON-fed steers (P ≤ 0.04) compared with control steers. Measures of alpha diversity for all treatments decreased in feces from d 0 to 7, then increased from d 7 to slaughter (time effect, (P ≤ 0.001). There were no differences in fecal alpha diversity between treatment groups on d 0 (P ≥ 0.50), but by d 28 both TYLMON and CTC treated steers had greater fecal alpha diversity compared with the control steers (P ≤ 0.05). With regard to differential abundance, Phascolarctobacterium and Prevotellaceae UCG-003 were more abundant in feces of control steers relative to antimicrobial treated steers (P &amp;lt; 0.05). Bifidobacterium, Dorea, CAG-56, and Erysipelotrichaceae UCG-003, were the 4 genera found to be in the greatest abundance in the feces of TYLMON-fed relative to control steers (P &amp;lt; 0.05). Akkermansia, Succinivibrio, and Turicbacter were the 3 genera found to be in the greatest abundance in the feces of CTC-fed compared with control steers (P &amp;lt; 0.05). Taken together, these data suggest that differences in the microbiome associated with dietary antimicrobial treatment occur to a greater extent in the lower sections of the GIT, and that these changes in the microbiome occur after 28 d of feeding.

PSVI-4 Effects of ruminal acidosis on rumen fermentation of steers adapted to a high concentrate diet

Abstract The objective was to characterize the effects of ruminal acidosis on rumen fermentation of steers adapted to a high concentrate diet. Cattle entering the feedlot undergo a transition period where the amount of concentrates in the diet is gradually increased to mitigate the risks of ruminal acidosis. Despite a dietary adaptation, rumen acidosis still affects feedlot cattle later in the finishing phase. Ruminally cannulated steers [n = 11; body weight (BW) = 795 kg ± 54) were blocked into 2 groups based on initial BW. Before the start of the study, cattle had been consuming a finishing diet (60% dry rolled corn, 15% modified distiller’s grains, 15% corn silage, and 10% ground corn based supplement) for more than 150 d. Steers were randomly assigned to 1 of 2 treatments: control (CON) or acidosis (ACD). For the experiment, steers were fasted for 24 h and at the conclusion received the same finishing diet. Steers on ACD steers were also ruminally dosed 0.05% BW of wheat starch on h 0 and h 12 to induce acidosis. Rumen fluid was collected every 4 h for 48 h to analyze ruminal pH, ammonia, volatile fatty acids (VFA), and lactate. Fecal grab samples were collected every 8 h for 48 h to determine fecal pH. Data were analyzed with the MIXED procedure of SAS 9.4 with the effects of treatment, time, and their interaction. A treatment × hour (P &amp;lt; 0.01) effect was observed for ruminal pH with the ACD steers having a lower pH than CON from h 12 to 32. Fecal pH was not affected by treatment, time, or their interaction (P ≥ 0.12). Steers fed ACD had greater total VFA concentration than CON (P &amp;lt; 0.01). A treatment × hour interaction (P &amp;lt; 0.01) was observed for acetate molar proportion with CON having greater percentage acetate at h 24 through 32. Additionally, there was a treatment × hour interaction (P &amp;lt; 0.01) for propionate molar proportion with ACD steers having greater propionate at h 28 and 32, and then at h 40 and 44. Butyrate was not affected (P ≥ 0.58) by treatment × hour or treatment. Acetate to propionate ratio (A:P) was affected by treatment × hour (P &amp;lt; 0.01) with CON steers having greater A:P after h 28. Rumen ammonia and lactate concentrations did not differ (P ≥ 0.25) by treatment or the interaction with h. In steers adapted to a high concentrate diet, acidosis only altered ruminal fermentation in regards to ruminal pH and VFA concentrations.

Control of a three-wheeled omnidirectional mobile robot via a mixed FTB/H∞\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal H_\\infty $$\\end{document} approach

In this paper, the problem of guidance and motion control of mobile robots is addressed and solved within the novel framework of the mixed finite-time/H∞\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal H_\\infty $$\\end{document} control theory of nonlinear quadratic systems (NLQSs). Starting from a NLQS describing the dynamics of omnidirectional mobile platforms, the main tasks performed for controlling in closed loop the motion of omnidirectional robots can be conveniently formulated as a mixed finite-time/H∞\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal H_\\infty $$\\end{document} control problem. A robust motion controller, which can effectively rejects disturbances deviating the robot platform from a planned path, can be designed after choosing a linear state-feedback structure for the controller. The synthesis problem is solved through some sufficient conditions contemplating both norm-bounded disturbances and sets constraining initial and terminal conditions, together with a finite-time bound on the output transient. Therefore, for all the allowable uncertainties, in presence of nonzero initial conditions and exogenous disturbance inputs which are possible within an unstructured environment, the motion control tasks can be accomplished through optimal H∞\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\mathcal H_\\infty $$\\end{document} performance by simultaneously guaranteeing that the NLQS, which governs in closed loop the robot platform, is finite-time bounded. Finally, the applicability and control performance of the design approach have been evaluated through numerical simulations.

Automatic Braking System

With the proliferation of vehicles and the integration of technology into daily transportation, ensuring road safety has become paramount. Traffic accidents, often resulting in substantial damage and casualties, persist as a global concern. The Automatic Braking System (ABS) stands as a pivotal safety innovation adopted by vehicle manufacturers worldwide. This paper explores the significance and functionality of ABS in preventing wheel lock-up during braking, thereby enabling drivers to maintain steering control. Through an examination of ABS technology, its effectiveness, limitations, and potential advancements, this research aims to contribute to the ongoing discourse on enhancing road safety measures in the modern automotive landscape.

Distributed drive electric vehicle differential assistance particle swarm optimization PID control

To improve the vehicle’s handling stability and enhance the steering assist effect of distributed drive electric vehicles, a differential assist steering control strategy is proposed based on the Particle Swarm Optimization (PSO) algorithm to optimize PID control parameters. A dynamic model of steering torque considering the influence of tire force is established, based on the reference steering torque to calculate the required torque. The PSO algorithm with the Integral of Time-weighted Absolute Error (ITAE) is used to optimize the parameters in the PID steering control, and wheel torque allocation is performed by using the objective function constraint. Simulation results show that the differential assistance can meet the driving requirements of drivers at both high and low speeds, and the proposed control strategy is effective.

Fault-Tolerant Control Method for Active Steering Control of Rail Vehicles Based on Overdrive Characteristics

Fault-Tolerant Control Method for Active Steering Control of Rail Vehicles Based on Overdrive Characteristics