The CEmACS project is a partnership between DaimlerChrysler Research, the Hamilton Institute at NUI Maynooth, Lund University, Glasgow University and SINTEF.
The objective of CEmACS is to
contribute to a systematic, modular, model-based approach for
designing complex automotive control systems. The Specific Target Research
Project is aimed at combining research into the theory of
multivariable control and nonlinear observers with a selection of novel
prototype automotive control applications. Control and observer
designs will be evaluated using two real-life benchmark integrated chassis control
design applications: (i) vehicle dynamics control for active safety (collision avoidance and roll-over protection), and (ii) multivariable control design for ride and handling using multiple
actuators (Generic Prototyping). For the evaluation
prototype experimental vehicles will be
provided by one of the industrial project partners. Specific objectives include the following:
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Develop and evaluate vehicle dynamics control
systems for active safety, in particular for
roll-over avoidance, and
collision avoidance based on active steering/braking.
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Develop and evaluate an integrated chassis controller for generic prototype vehicles to be used in vehicle dynamics analysis and design.
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Contribute to a systematic modular design approach for complex embedded automotive control systems taking into account the following specific
issues: (i) High performance decentralised multivariable control design under hard real-time conditions and in the presence of time delays, and state and actuator
constraints; (ii) Nonlinear and adaptive controllers to stabilise vehicles at the physical limits in the presence of uncertainties in road friction and vehicle mass and load distribution; (iii) Hybrid control systems for improved fault tolerance, graceful degradation and robustness with respect to a highly time-varying environment.
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Development of robust state observation techniques for low-cost sensor configurations focused on two complementary
approaches: nonlinear observers with global convergence properties, advanced Kalman-filtering and covariance intersection techniques.
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Implementation, evaluation and verification of the controllers in two experimental test vehicles which will be used in vehicle dynamics research and design.
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