Olivier Sename - IEEE Xplore Author Profile

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The stabilization of first and second-order systems in the presence of disturbances has been investigated in this paper. A novel sliding variable is designed utilizing the Gauss error and arctangent functions. This results in a new control rule characterized by its robustness and ease of fixed-time stability implementation. Subsequently, sliding-mode control is applied to achieve the global robust...Show More
This paper presents a comprehensive analysis of the power consumption characteristics of an autonomous service robot across different operational scenarios. The study investigates the discharging profile of a 14.8V 4-cell 10,000mAh LiPo battery, providing insightful observations on the relationship between the State of Charge (SOC) and internal resistance, along-side voltage dynamics during discha...Show More
Hybridization of energy storage units is a topic of interest in the nowadays context of transition towards more sustainable ways of energy production and consumption. Extensive research continues to be devoted to this topic, whereas various technical solutions have already been successfully implemented for a plethora of applications. This paper aims in a first step at overviewing the necessity of ...Show More
The present paper develops an output feedback fixed-time sliding mode control (FxTSMC) approach for lateral trajectory tracking of an autonomous vehicle subject to disturbances. Firstly, a nonsingular terminal sliding manifold is constructed to force the orientation error and lateral deviation to converge to desired values in finite time. Secondly, using variable exponent coefficients, a switching...Show More
This paper proposes a Linear Parameter Varying (LPV) based steering control design method, which contains data aided control elements, e.g., learning-based agents. The framework is based on a supervisory control structure, which contains a supervisor, a LPV controller and the data aided control element. The goal of this paper is to provide a safe steering control, with which the human steering int...Show More
Model predictive control (MPC) algorithms have long been applied to nonlinear processes. In a quasi-linear parameter varying (qLPV) setting, nonlinearities are included into bounded scheduling parameters, which are given as a function of endogenous variables; these scheduling parameters are a priori unknown along a future prediction horizon, which complicates MPC design. To address this problem, t...Show More
In this paper, we propose an optimal online tuning scheme for design-related scheduling parameters of adaptive Linear Parameter Varying (LPV) control systems. Specifically, the method is conceived within the Model Predictive Control (MPC) framework, which we demonstrate to ensure an input-to-state stable closed-loop and a recursively feasible optimisation program. The major advantage of the propos...Show More
In this brief paper, we present an overview of recent advances on Model Predictive Control (MPC) synthesis for nonlinear systems using quasi-Linear Parameter Varying (qLPV) embeddings. For such, we consider a highly nonlinear Cartesian robot benchmark as a case study. Specifically, we advocate for the use of recursive Taylor-based extrapolation maps to generate accurate estimates for the future tr...Show More
This study represents the integrated comfort-oriented velocity design, tracking control, and adaptive semi-active suspension control method. The velocity design approach is based on the ISO 2631-1 standard, while the proposed velocity tracking control method is based on the LPV control architecture. A road adaptive semi-active suspension control method, where a trade-off between vehicle stability ...Show More
This paper presents the design and implementation of an intelligent switched control for lateral control of autonomous vehicles. The switched control is designed based on Linear Parameter-Varying (LPV) and Youla-Kucera (YK) parameterization. The proposed intelligent system aims to optimize the control switching performance using a Reinforcement Learning (RL) model. The presented approach studies t...Show More
This paper proposed a road adaptive semi-active suspension control method, where a trade-off between driving comfort and vehicle stability/road-holding is accomplishable in order to achieve desirable performance results at different road irregularities and velocities by modifying the scheduling variable that is designed by Fuzzy Logic Control. The proposed semi-active controller is founded on the ...Show More
This letter deals with stability and state feedback control of discrete-time Multi-Mode Multi-Dimensional ( $M^{3}D$ ) linear systems. The $M^{3}D$ switch dynamics are modeled through a state mapping describing the mode transitions. This $M^{3}D$ model framework then allows to consider poly-quadratic Lyapunov functions to obtain Linear Matrix Inequalities conditions for stability proof and for...Show More
This paper presents the design and experimental validation of grid-based and Linear Fractional Transformation (LFT) approaches for the lateral control of autonomous vehicles. These new methodological approaches are compared together with the classical polytopic approach from the theoretical design to the real implementation on a real automated Renault ZOE vehicle. A solution is proposed to deal wi...Show More
Multiple semi-active suspension control systems have been studied and adapted to vehicles in the past. Many of these systems work with actual road conditions, while oncoming road conditions are not considered. This paper presents a method to integrate look-ahead road information in the adaptive semi-active suspension control with energy-efficient cruise control. Oncoming road conditions and catego...Show More
This paper focus on the road adaptation for vehicle semi-active suspension system using preview robust control approach. This approach aims to improve the performance of control systems by using future knowledge of road disturbances. The objectives are to minimize a quadratic criterion on the system output and at the same time to maintain the control signal at a satisfactory level.The proposed sol...Show More
This paper develops a novel Linear Parameter Varying (LPV) Model Predictive Control (MPC) algorithm for Semi-Active Suspension systems. The current state-of-the-art comprises two possible implementations: a) to consider the future variations of the LPV scheduling variables as uncertainties, thereby solving a robust optimization, which is usually time-consuming; or b) to estimate the future schedul...Show More
This paper proposes a lateral Advance Driver Assistance System (ADAS) steering controller that uses the detection of driver errors to reconfigure a Linear Parameter Varying (LPV) controller acting on the combined driver-vehicle lateral steering system. The detection of driver errors is proposed to be formulated as a Fault Detection problem using the Parity Space approach, and the computed residual...Show More
This paper presents a novel approach on the union of lane tracking/change via the use of a Reference Governor (RG). This is achieved by feeding a modification of the reference during lane-change, called “virtual” reference, to the predesigned lane-tracking controller. The suggested methodology ensures reference is smooth enough so that the tracking controller does not overshoot and sustains fast c...Show More
This paper presents an optimization problem for the look-ahead distance used in lateral automated vehicle control. A relation is formulated to describe the sensitivity of the control input steering speed $\dot \delta $ with respect to the variation of the look-ahead distance L. The nonlinear relation is written as an LPV model using the grid-based approach. The aim is to design a controller which ...Show More
Several types of dampers are used in the suspension systems of road vehicles, while the magneto-rheological damper is one of the most efficient solutions to manage the balance between objectives of vehicle suspension control. Various types of failures may occur in magneto-rheological dampers, and these faults may affect adversely the operation of the vehicle suspension system. This paper is concer...Show More
This paper presents a dynamic H∞ observer for damper force estimation of a semi-active Electro- Rheological (ER) damper in an automotive suspension system. Firstly, an extended nonlinear quarter-car model is developed to capture the main behaviors (dynamic and nonlinear) of the ER dampers. The dynamic H∞ observer is designed to minimize the effects of unknown disturbances (measurement noises and r...Show More
This paper presents a multi-scenario full-range speed lateral automated vehicle controller. A speed-dependent LPV model is designed to deal with two different situations: 1) vehicle tracking capabilities to follow a pre-defined trajectory; and 2) vehicle response to sudden reference changes as occur either when activating the automated system for the first time or when performing a lane-change. Th...Show More
The paper presents a data-driven method for tire pressure estimation and an LPV-based control design for autonomous vehicles. The motivation of the research is that the pressures of the tires have high impacts on the lateral dynamics of the vehicle, because the loss of tire pressure may result in degradation in the lateral vehicle motion. First, a machine learning-based estimation algorithm, which...Show More
The paper proposes a parameter identification method for a vehicle model using real measurements of onboard sensors. The motivation of the paper is to improve the localization of the vehicle when the accuracy of the regular methods is poor, e.g. in the case of unavailable GNSS signals, no enough feature for vision, or low acceleration for IMU-based techniques. In these situations the wheel encoder...Show More
Semi-active suspension control and vehicle cruise control systems have already been developed by researchers and adapted by automotive companies. Most of these systems react on actual road irregularities and terrain characteristics, and the control for each subsystem is designed separately. However, since oncoming road conditions can be known by using historic road information and GPS navigation s...Show More