Sine Resistance Network-Based Motion Planning Approach for Autonomous Electric Vehicles in Dynamic Environments

published in IEEE Transactions on Transportation Electrification

Tenglong Huang, Huihui Pan*, Weichao Sun, Huijun Gao* (*Corresponding Author)

Main Contributions:

• A new sine grid is presented for the first time to construct a novel sine resistance network (SRN). The proposed novel sine grid can avoid curvature discontinuity. Thus, the path smoothness and overall performance are improved significantly.
• The bias oval artificial potential field (BOAPF) is generated by taking the velocity information into account. The modified APF method can cope with the dynamic environment.

Approximation-Free Prespecified Time Bionic Reliable Control for Vehicle Suspension

published in IEEE Transactions on Automation Science and Engineering

Tenglong Huang, Jue Wang, Huihui Pan*

Main Contributions:

• A pre-specified time controller is designed that can make the steady-state responses of error signals converge to a neighborhood of 0 over a pre-specified finite time interval.
• By introducing time delay information, the designed control scheme is model-free and approximation-free. Actuator faults can be effectively compensated and handled to enhance reliability.
• Inspired by animal bionic structures, asymmetric X-type bio-inspired dynamics are embedded into this controller, which further reduces energy consumption.

Finite-Time Fault-Tolerant Integrated Motion Control for Autonomous Vehicles With Prescribed Performance

published in IEEE Transactions on Transportation Electrification

Tenglong Huang, Jue Wang, Huihui Pan*, Weichao Sun

Main Contributions:

• A fixed-time integrated motion control scheme with time-varying longitudinal velocity is presented to address the interactions and coupling between lateral and longitudinal dynamics.
• The desired trajectory and dynamics can be tracked accurately. The tracking errors can enter the prescribed steady-state precision region in a fixed time, and asymptotic convergence is ensured.
• The negative impacts of the unknown external disturbance and actuator faults are eliminated. Note that no additional boundness information and approximate tools are required.

Adaptive Bioinspired Preview Suspension Control With Constrained Velocity Planning for Autonomous Vehicles

published in IEEE Transactions on Intelligent Vehicles

Tenglong Huang, Jue Wang, Huihui Pan*

Main Contributions:

• A constrained velocity planning algorithm is proposed to balance the vertical ride comfort, longitudinal comfort, and passage time.
• Based on the planned velocity and road information, this article presents a preview controller employing generated road excitation from an adaptive control perspective.
• To the authors’ knowledge, this study is the first to propose a nonlinear adaptive bionic preview suspension control and planning framework.
• Animal limb-inspired bio-inspired dynamics are introduced as reference trajectories to take advantage of the beneficial nonlinearities, achieving significant energy savings.

A Sensor Fault Detection, Isolation, and Estimation Method for Intelligent Vehicles

published in Control Engineering Practice

Tenglong Huang, Huihui Pan*, Weichao Sun

Main Contributions:

• A state estimation method based on the Luenberger observer is constructed for lateral-longitudinal coupled dynamical systems, which allows for efficient state estimation.
• The interval observers without dependence on the prior knowledge of perturbation and uncertainties are constructed. The proposed interval observers can be adapted to estimate corresponding fault interval bounds effectively, thereby enabling sensor fault detection and isolation.
• A modification to the interval observer structure is proposed and utilized to estimate the occurred sensor fault corresponding to the faulty sensor. This modified interval observer allows for effective adaptive estimation of the upper and lower boundaries of the sensor fault interval.