Publications

Model based automatic code generation for nonlinear model predictive control

This paper demonstrates a symbolic tool that generates C code for nonlinear model predictive controllers. The optimality conditions are …

Design environment for nonlinear model predictive control

Model Predictive Control (MPC) design methods are becoming popular among automotive control researchers because they explicitly address …

Piecewise-affine approximations for a powertrain control verification benchmark

We present a benchmark example of an automotive powertrain control system converted to a hybrid system with piecewise-affine (PWA) …

A sum of squares approach to backstepping controller synthesis for piecewise affine and polynomial systems

This paper addresses backstepping controller synthesis for piecewise affine (PWA) systems. The main contribution of the paper is to …

Estimation of region of attraction for polynomial nonlinear systems: A numerical method

This paper introduces a numerical method to estimate the region of attraction for polynomial nonlinear systems using sum of squares …

Active front-steering control of a sport utility vehicle using a robust linear quadratic regulator method, with emphasis on the roll dynamics

One of the well-known methods for improving the lateral stability of a vehicle is to utilize an active steering controller. Common …

A convex formulation of controller synthesis for piecewise-affine slab systems based on invariant sets

This paper presents a controller synthesis method to stabilize piecewise-affine (PWA) slab systems based on invariant sets. Inspired by …

PWATOOLS: A MATLAB toolbox for piecewise-affine controller synthesis

A toolbox for piecewise-affine (PWA) systems called PWATOOLS is introduced in this paper. Numerical control synthesis methodologies for …

A unified dissipativity approach for stability analysis of piecewise smooth systems

The main objective of this paper is to present a unified dissipativity approach for stability analysis of piecewise smooth (PWS) …

Handling safety improvement for steer-by-wire vehicle using fuzzy controller

In this study, a novel controller is proposed to improve vehicle handling safety. The vehicle utilizes from steer by wire technology to …

Controller design for vehicle stability improvement using optimal distribution of tire forces

In order to improve the lateral stability of the vehicles at a high speed, a Vehicle Dynamics Control system is developed for tracking …

Modelling and quantification of valve stiction by unknown input estimation

The presence of nonlinearities, such as stiction, and deadband in a control valve limits the control loop performance. Valve stiction …

Stability of sampled-data piecewise affine systems: A time-delay approach

This paper addresses the stability analysis of sampled-data piecewise-affine (PWA) systems consisting of a continuous-time plant in …

Backstepping controller synthesis for piecewise polynomial systems: a sum of squares approach

This paper defines a new class of hybrid systems called piecewise polynomial (PWP) systems in strict form and develops a backstepping …

A duality-based convex optimization approach to L 2-gain control of piecewise affine slab differential inclusions

This paper introduces the dual parameter set of a piecewise affine (PWA) system. This is a key concept to enable a convex formulation …

Extension of local linear controllers to global piecewise affine controllers for uncertain non-linear systems

A two-step controller synthesis method is proposed in this article for a class of uncertain non-linear systems described by piecewise …

Sampled-data piecewise affine slab systems: A time-delay approach

This paper addresses stability analysis of sampled-data piecewise-affine (PWA) systems consisting of a continuous-time plant and a …

Controller synthesis for piecewise affine slab differential inclusions: A duality-based convex optimization approach

The first important contribution of this paper is to introduce for the first time a duality-based interpretation of piecewise affine …

Backstepping controller synthesis for piecewise affine systems: A sum of squares approach

This paper addresses backstepping controller synthesis for piecewise affine (PWA) systems. The main contribution of the paper is to …

Fuzzy based stability enhancement system for a four-motor-wheel electric vehicle

The stability of a four motor-wheel drive electric vehicle is improved by independent control of wheel torques. An innovative Fuzzy …

Real-time estimation of vehicle state and tire-road friction forces

An approach to estimate vehicle state and tire road friction forces using an extended Kalman filter (EKF) is presented. A numerically …

Estimation of vehicle speed and tire-road friction forces

This paper presents a new method to estimate vehicle velocity and tire-road friction forces using an extended Kalman filter (EKF). A …