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This paper considers the vehicle control process in emergency lane change (ELC). The control method is divided into two parts: before crossing the obstacle and after crossing it. The first part is done by a feed-forward controller inspired by the driver's behavior pattern in the ELC maneuver. This controller is compensated by a neural network system and two proportional-integral (PI) and proportional-derivative (PD) controllers, which correct the output of the feed-forward controller to follow the path more accurately. The second part consists of two PD controllers responsible for controlling and steering the vehicle in the main path after crossing the obstacle. The main novelty of the proposed method is that the computational burden is low because of using a feed-forward controller, which is the main source of the calculation's burden. So as a result, the controller system can cover the ELC maneuver in under 2 seconds in various lateral displacements to bypass the obstacle and prevent collisions. The co-simulations are performed in CarSim software and MATLAB/Simulink, which shows that the control system can appropriately steer the vehicle and follow the desired at different speeds, in the presence of road friction and parameter uncertainty. [ABSTRACT FROM AUTHOR]

In this paper, boundary control (BC) laws are designed to find a BC solution for a single-link nonlinear vertical manipulator to suppress the link's transverse vibrations and control the rigid body nonlinear large rotating motion. The governing equations of motions and boundary conditions, which all consist of a set of PDEs and ODEs have been derived based on the Hamilton principle. It is desired to regulate large angular orientation, suppress the flexible link's transverse vibrations and compensate the boundary disturbance simultaneously. The amount of elastic boundary vibration has remained within the constraint range. By considering novel Barrier-Integral Lyapunov functional in order to prevent the amount of boundary deflection from violating the constraints and avoiding any simplifications, in the presence of external boundary disturbance, proper control feedbacks and boundary disturbance observer are adopted in order to reach control objectives and to compensate external boundary disturbance effects simultaneously. By choosing proper boundary feedback, system states are proven to be uniform ultimate bounded and converge exponentially toward a small neighbourhood of zero. In order to illustrate the performance of the proposed control approach, numerical simulation results are provided. [ABSTRACT FROM AUTHOR]

This paper aims to develop a boundary control solution for complicated gantry crane coupled motions. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The Hamilton principle has been utilized to derive the governing partial differential equations of motion. The control objectives which are sought include: moving the payload to the desired position; reducing the payload swing with large sway angle; and finally suppressing the cable transverse vibrations in the presence of boundary disturbances simultaneously. These simultaneous boundary control objectives make the problem challenging. The proposed control approach is based on the original nonlinear hybrid partial differential equation–ordinary differential equation model without any simplifications of sway motion nonlinearities, coupling effects, and the effect of gravitational force. Using the Lyapunov method, a boundary control law has been designed which guarantees the exponential stability and uniform boundedness of the closed-loop system. In order to demonstrate the effectiveness of the proposed control method, numerical simulation results are provided by applying the finite difference method. [ABSTRACT FROM AUTHOR]