Comparison of Quasi Bang-Bang and Sliding Mode Controls for a DC Shunt Motor with Time Delay

We propose a hybrid fuzzy-linear controller for a nonlinearterminal voltage-controlled DC motor. The nonlinearity includes theeffect of magnetization saturation and a nonlinear fan load. The inputto the proposed Fuzzy Logic Controller (FLC) is an 'aggregate' errorbetween the required and the actual rpm and its time derivatives. TheFLC is designed to approximate a bang-bang controller and itscoefficients are chosen as a tradeoff between short rise time, smallsteady-state errors, and control chattering. The FLC performance wascompared to that of a well-known design; namely a sliding modecontroller with a boundary layer. Although the FLC design procedure iseasier, the performance of the two controllers are quite similar.Unfortunately, the FLC design was not robust enough to counter theeffect of large time delays introduced by the power electronicsinterface.     

Connected autonomous vehicles: State of practice

Connected autonomous vehicles (CAVs) have the potential to deal with the steady increase in road traffic while solving transportation related issues such as traffic congestion, pollution, and road safety. Therefore, CAVs are becoming increasingly popular and viewed as the next generation transportation solution. Although modular advancements have been achieved in the development of CAVs, these efforts are not fully integrated to operationalize CAVs in realistic driving scenarios. This paper surveys a wide range of efforts reported in the literature about the CAV developments, summarizes the CAV impacts from a statistical perspective, explores current state of practice in the field of CAVs in terms of autonomy technologies, communication backbone, and computation needs. Furthermore, this paper provides general guidance on how transportation infrastructures need to be prepared in order to effectively operationalize CAVs. The paper also identifies challenges that need to be addressed in near future for effective and reliable adoption of CAVs.