Adopting linear optimization to support autonomous vehicles in smart city

Petrović, Nenad; Kocic, Djordje

doi:10.1109/telfor48224.2019.8971185

Cited by 5 publications

(3 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The availability of AVs is undeniably a growing trend, and today we are witnessing an exponential evolution until a few years from now we can reach the complete automation of vehicles. The technologies that are present in cities today allow us to anticipate that in the coming years we will have frank developments regarding the automation of vehicles for the daily commuting that all citizens need to undertake for their daily tasks [ 80 ]. This will undoubtedly revolutionize urban mobility as we know it in a very drastic way.…”

Section: Smart Mobility Services and Applicationsmentioning

confidence: 99%

Enabling Technologies for Urban Smart Mobility: Recent Trends, Opportunities and Challenges

Paiva

Ahad

Tripathi

et al. 2021

Sensors

205

View full text Add to dashboard Cite

The increasing population across the globe makes it essential to link smart and sustainable city planning with the logistics of transporting people and goods, which will significantly contribute to how societies will face mobility in the coming years. The concept of smart mobility emerged with the popularity of smart cities and is aligned with the sustainable development goals defined by the United Nations. A reduction in traffic congestion and new route optimizations with reduced ecological footprint are some of the essential factors of smart mobility; however, other aspects must also be taken into account, such as the promotion of active mobility and inclusive mobility, encouraging the use of other types of environmentally friendly fuels and engagement with citizens. The Internet of Things (IoT), Artificial Intelligence (AI), Blockchain and Big Data technology will serve as the main entry points and fundamental pillars to promote the rise of new innovative solutions that will change the current paradigm for cities and their citizens. Mobility-as-a-service, traffic flow optimization, the optimization of logistics and autonomous vehicles are some of the services and applications that will encompass several changes in the coming years with the transition of existing cities into smart cities. This paper provides an extensive review of the current trends and solutions presented in the scope of smart mobility and enabling technologies that support it. An overview of how smart mobility fits into smart cities is provided by characterizing its main attributes and the key benefits of using smart mobility in a smart city ecosystem. Further, this paper highlights other various opportunities and challenges related to smart mobility. Lastly, the major services and applications that are expected to arise in the coming years within smart mobility are explored with the prospective future trends and scope.

show abstract

Section: Smart Mobility Services and Applicationsmentioning

confidence: 99%

Enabling Technologies for Urban Smart Mobility: Recent Trends, Opportunities and Challenges

Paiva

Ahad

Tripathi

et al. 2021

Sensors

205

View full text Add to dashboard Cite

show abstract

“…SMCs aggregated with ASG could take advantage of their recognized robustness properties concerning poorly modeled dynamics, uncertain parameters, and the effect of external perturbations [6] to create a suitable solution to the acceleration tracking problem for flight simulators. For a long time, SMC has been utilized to solve the problem of following the trajectory of reference locations or velocities for robotic manipulators [7][8][9]. The limiting behavior of high-power consumption at the steady-state operating point is taken into account by SMCs, which provide substantial stabilizing and tracking settings [10][11][12], but still presenting the transient period that may demotivate its application for extremum seeking problems.…”

Section: Introductionmentioning

confidence: 99%

Cueing end‐effector acceleration of a two‐link robotic arm by dynamic averaged sub‐gradient integral sliding mode control

Hernández-Sánchez

Chairez

Poznyak

et al. 2022

Asian Journal of Control

View full text Add to dashboard Cite

The primary objective of this research is to determine if the dynamic version of an averaged sub‐gradient (ASG) integral siding mode (ISM) controller can effectively handle the end‐effector acceleration tracking problem for a two‐link robotic arm avoiding singularity conditions. The proposed scheme solves a nonlinear extremum seeking problem that minimizes a non‐strictly convex function that depends on the acceleration tracking error defined by the difference between the desired acceleration trajectory and the cueing end‐effector acceleration of a two‐link robotic arm in a 2D‐plane. A second‐order differential equation drives the proposed dynamic ASG with nonlinear coefficients and a discontinuous right‐hand side term, which allows for the achievement of the necessary ISM regime in the presence of considerable errors in the mathematical model description. A special switch between modes allows the controller to track accelerations even in extreme positions (near to the active boundaries of the joint articulations) effectively.

show abstract

“…This technique was considered to estimate online optimization designs for general classes of non-strictly convex functional, which are common in the resolution of MRAD controlled motions. 20,21 The principal contributions of this study can be summarized as follows:…”

Section: Introductionmentioning

confidence: 99%

Robust dynamic backstepping averaged sub-gradient integral sliding mode control for navigation of mobile robots

Sanchez

Poznyak

Andrianova

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

The main goal of the current investigation is to present an output feedback robust control that regulates the motion of mobile robotic autonomous devices based on the application of the dual averaged sub-gradient descendant method. Sub-gradient realization aims to solve the design of a proposed extremum seeking control to stabilize the trajectory tracking error between the three-dimensional position of mobile robotic autonomous devices and some attainable reference trajectories in the same spatial domain. The controller belongs to a class of sliding mode controller with variable gain based on a sliding surface depending on the tracking error and its time derivative. This derivative is estimated with the application of a distributed time-dependent super-twisting robust differentiator. The proposed mobile robotic autonomous device dynamics considers the dynamics of actuators (direct current motors) which drives the mobilization of mobile robotic autonomous devices. The dynamic nature of the mobile robotic autonomous devices regulated by motor actuators induces a backstepping-like controller design based on a two-stage sequential application of the sub-gradient strategy, one for the mobile robotic autonomous devices and the second for the motor dynamics. The mixed strategy appears as a novel formulation to solve the path track for reference trajectories of mobile robotic systems. The proposed control considers the optimization of the tracking error dependent functional without the full knowledge of the mobile robotic autonomous device dynamics. With the aim of proving the effectiveness of the suggested design, two numerical examples are developed. In these examples, the tracking performance, minimization of the proposed functional as well as control evolution are evaluated. The controlled tracking outcomes of the proposed integral sliding mode control are contrasted with the outcomes produced by a set of proportional–derivative and selected sliding mode (first-order type) controllers. The suggested controller shows a superior tracking of the reference trajectory than the other two comparative controllers, using quality measures such as least mean square error and its integral.

show abstract

Adopting linear optimization to support autonomous vehicles in smart city

Cited by 5 publications

References 10 publications

Enabling Technologies for Urban Smart Mobility: Recent Trends, Opportunities and Challenges

Enabling Technologies for Urban Smart Mobility: Recent Trends, Opportunities and Challenges

Cueing end‐effector acceleration of a two‐link robotic arm by dynamic averaged sub‐gradient integral sliding mode control

Robust dynamic backstepping averaged sub-gradient integral sliding mode control for navigation of mobile robots

Contact Info

Product

Resources

About