AC induction motors and permanent magnet synchronous drives became very popular for motion control applications due to their simple reliable construction. Sensorless drive is required in many reduce production costs. While approaches magnetic flux, rotor speed, or other quantities needed electrical machine were proposed, conditions under which these can be estimated are not often sufficiently investigated. In this paper, permanent-magnet-synchronous-machine state observability analysis...

We consider platoons composed of identical vehicles and controlled in a distributed way, that is, each vehicle has its own onboard controller. The regulation errors spacing to the immediately preceeding following are weighted differently by controller, which thus implements an asymmetric bidirectional control scheme. weights can vary along platoon. prove such have nonzero uniform bound on second smallest eigenvalue graph Laplacian matrix-the Fiedler eigenvalue. Furthermore, it is shown...

We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. restrict ourselves to intervehicular coupling realized dynamic arbitrary-order onboard controllers such that the immediately preceding vehicle is proportional following vehicle. Each modeled using a transfer function and we impose no restriction on order The only requirement controller model platoon stable for any number vehicles. described by in convenient product form. investigate how...

This paper deals with harmonic instability of asymmetric control vehicular platoons. The considered platoons are composed identical linear models arbitrary order but there must be at least two integrators in the open loop. Each vehicle only responds to movement its immediate neighbors—the predecessor and follower—and these couplings nonidentical. We show that for asymmetry intervehicular coupling, is an exponential growth peak platoon's magnitude frequency responses as number vehicles...

We consider a distributed system with identical agents, constant-spacing policy and asymmetric bidirectional control, where the asymmetry is due to different controllers, which we describe by transfer functions. By applying wave function approach, it shown that, if there are two integrators in dynamics of then positional coupling must be symmetric, otherwise locally string unstable. This finding holds also for generalized path-graph interaction topology local nature function. The main...

In this paper, we document a novel method for emergency vehicle preemption at an intersection controlled by traffic lights. The relies on wireless vehicle-to-infrastructure (V2I) communication between the and lights controller, availability of accurate estimate number vehicles in queue, mathematical model dynamics discharging queue. Unlike some occasionally deployed methods that trigger instant appears prespecified distance from intersection, proposed adapts activation moment to actual...

We consider an asymptotic stability of a circular system where the coupling Laplacians are different for each state used synchronization. It is shown that there must be symmetric in output to guarantee agents with two integrators open loop. Systems having three or more cannot stabilized by any coupling. In addition, recent works analysis scaling vehicular platoons relate string stability. Therefore, as confirmed simulations paper, our results have application also path graphs.

This paper considers a distributed system of identical agents with arbitrary LTI models. A method for state-feedback design is provided. The proposed solution consists two steps: first single-agent controller derived and then, based on the network topology, gain this adjusted. LQ optimality proved provided that Laplacian has only real eigenvalues non-defective. result subsequently used to asymmetric vehicle platoon. We show same fixed optimal any number vehicles in However, performance still...

The paper reports on an affordable experimental platform for vehicular platooning. platoon consists of several autonomous slot cars (typical experiments take 5 to 20 cars), hence it fits into indoor laboratory. Each car is equipped with onboard controller and can measure its own velocity, acceleration, distances nearest neighbors. Furthermore, each communicate other vehicles including the leader platoon. A convenient user interface allows store, analyze visualize data in Matlab. be used...

In this paper, we document a design of computational method for an onboard prediction breaking distance city rail vehicle—a tram. The is based on simulation tram braking dynamics. Inputs to are the data from digital map and estimated (current) position speed, which are, in turn, by combining mathematical model dynamics with measurements GNSS/GPS receiver, accelerometer map. Experiments real trams verify functionality, but reliable identification key physical parameters turns out critically...

Knowledge of the exact characteristics a motor is necessary for high-performance electrical drive control. It useful to obtain not only states and mechanical variables, but also other quantities. Two unknown parameters are moment inertia load torque. This paper addresses theoretical aspects conditions, on which these quantities simultaneously observable. Both asynchronous synchronous drives considered. The conditions verified by simulation real-motor data. Obtained results prove possibility...

The paper tailors the so-called wave-based control known in field of flexible mechanical structures to problem distributed vehicular platoons. proposed solution is based on refinement popular symmetric bidirectional controller which enables platoon leader actively absorb any incoming (backwards running) wave positional changes platoon. In order accomplish this, only needs measure distance its immediate follower. This minor augmentation results significant attenuation undesirable long...

In this paper scaling of H-infinity norm selected transfer functions in bidirectional vehicle platoons is investigated. The vehicles are identical and use symmetric nearest-neighbor interactions, hence the communication topology a pinned undirected path graph. LTI open-loop model individual can be arbitrary order, but it required to contain two integrators order track movement leader. It shown that for any agent some formation scale linearly, while others quadratically. type depends on...