Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres

The aim of this work was twofold: on the one hand, to describe a comparative study of two intelligent control techniques-fuzzy and intelligent proportional-integral (PI) control, and on the other, to try to provide an answer to an as yet unsolved topic in the automotive sector-stop-and-go control in urban environments at very low speeds. Commercial vehicles exhibit nonlinear behavior and therefore constitute an excellent platform on which to check the controllers. This paper describes the design, tuning, and evaluation of the controllers performing actions on the longitudinal control of a car-the throttle and brake pedals-to accomplish stop-and-go manoeuvres. They are tested in two steps. First, a simulation model is used to design and tune the controllers, and second, these controllers are implemented in the commercial vehicle-which has automatic driving capabilities-to check their behavior. A stop-and-go manoeuvre is implemented with the two control techniques using two cooperating vehicles.

Low-speed longitudinal controllers for mass-produced cars: A comparative study

Four longitudinal control techniques are compared: a classical Proportional-Integral (PI) control; an advanced technique-called the i-PI-that adds an intelligent component to the PI; a fuzzy controller based on human experience; and an adaptive-network-based fuzzy inference system. The controllers were designed to tackle one of the challenging topics as yet unsolved by the automotive sector: managing autonomously a gasoline-propelled vehicle at very low speeds. The dynamics involved are highly nonlinear and constitute an excellent test-bed for newly designed controllers. A Citroën C3 Pluriel car was modified to permit autonomous action on the accelerator and the brake pedals-i.e., longitudinal control. The controllers were tested in two stages. First, the vehicle was modeled to check the controllers' feasibility. Second, the controllers were then implemented in the Citroën, and their behavior under the same conditions on an identical real circuit was compared.

Limits of the frequency response for the analysis of ripple-based controllers

Advanced control techniques like V2, Vout hysteresis or V2Ic can strongly reduce the required output capacitance in PowerSoC converters. Techniques to analyze power converters based on the analysis of the frequency response are not suitable for ripple-based controllers that use fast-scale dynamics to control the power stage. This paper proves that the use of discrete modeling together with Floquet theory is a very powerful tool to model the system and derive stable region diagrams for sensitivity analysis. It is applied to V 2Ic control, validating experimentally that Floquet theory predicts accurately subharmonic oscillations. This method is applied to several ripplebased controllers, providing higher accuracy when it is compared with other techniques based on the frequency response. The paper experimentally validates the usefulness of the discrete modeling and the Floquet theory on a 5 MHz Buck converter with a V 2Ic control.

Cooperative controllers for highways based on human experience

The AUTOPIA program has been working on the development of intelligent autonomous vehicles for the last 10 years. Its latest advances have focused on the development of cooperative manœuvres based on communications involving several vehicles. However, so far, these manœuvres have been tested only on private tracks that emulate urban environments. The first experiments with autonomous vehicles on real highways, in the framework of the grand cooperative driving challenge (GCDC) where several vehicles had to cooperate in order to perform cooperative adaptive cruise control (CACC), are described. In this context, the main challenge was to translate, through fuzzy controllers, human driver experience to these scenarios. This communication describes the experiences deriving from this competition, specifically that concerning the controller and the system implemented in a Citröen C3.

Implementation guidelines for actuated controllers in coordinated systems. Final report.

Texas Department of Transportation, Austin

Coordination of actuated controllers on traffic control systems.

Texas Department of Transportation, Austin

Automatic controllers for hydraulically powered deicing chemical spreaders. Final report.

Mode of access: Internet.

Multiple controllers in a CAMAC crate /

Issued March 1978.

Air traffic controllers and flight service station specialists [microform] : hearings before the Subcommittee on the Civil Service of the Committee on Post Office and Civil Service, House of Representatives, Ninety-sixth Congress, first session ....

Reuse of record except for individual research requires license from Congressional Information Service, Inc.

Controllership: its functions and technique; prepared for the Controllers' Institute of America

Mode of access: Internet.

Financial management of the marketing function; a research study and report prepared for the Financial Executives Research Foundation (formerly, Controllers Institute Research Foundation)

Includes bibliography.

DS, GS, and depot maintenance manual : controllers, flight, automatic pilot C-3107/ASW-12(V) and C-3107A/ASW-12(V), and panel, directional control SB-1453/ASW-12(V).

Includes index.

United States Court of Appeals for the District of Columbia Circuit, no. 81-2135, Professional Air Traffic Controllers Organization, petitioner v. Federal Labor Relations Authority, respondent, Federal Aviation Administration, intervenor : petition for review of an order of the Federal Labor Relations Authority, argued December 3, 1981, decided June 11, 1982.

Cover title.

Minutes of the Board of school controllers of the City of Reading.

Latest issue consulted: 1900-1901.

Simulation of air traffic controllers' behaviour using the operator choice model

The Operator Choice Model (OCM) was developed to model the behaviour of operators attending to complex tasks involving interdependent concurrent activities, such as in Air Traffic Control (ATC). The purpose of the OCM is to provide a flexible framework for modelling and simulation that can be used for quantitative analyses in human reliability assessment, comparison between human computer interaction (HCI) designs, and analysis of operator workload. The OCM virtual operator is essentially a cycle of four processes: Scan Classify Decide Action Perform Action. Once a cycle is complete, the operator will return to the Scan process. It is also possible to truncate a cycle and return to Scan after each of the processes. These processes are described using Continuous Time Probabilistic Automata (CTPA). The details of the probability and timing models are specific to the domain of application, and need to be specified using domain experts. We are building an application of the OCM for use in ATC. In order to develop a realistic model we are calibrating the probability and timing models that comprise each process using experimental data from a series of experiments conducted with student subjects. These experiments have identified the factors that influence perception and decision making in simplified conflict detection and resolution tasks. This paper presents an application of the OCM approach to a simple ATC conflict detection experiment. The aim is to calibrate the OCM so that its behaviour resembles that of the experimental subjects when it is challenged with the same task. Its behaviour should also interpolate when challenged with scenarios similar to those used to calibrate it. The approach illustrated here uses logistic regression to model the classifications made by the subjects. This model is fitted to the calibration data, and provides an extrapolation to classifications in scenarios outside of the calibration data. A simple strategy is used to calibrate the timing component of the model, and the results for reaction times are compared between the OCM and the student subjects. While this approach to timing does not capture the full complexity of the reaction time distribution seen in the data from the student subjects, the mean and the tail of the distributions are similar.