Seyed Hossein Tamaddoni

Virginia Polytechnic Institute and State University, Blacksburg, VA, United States

Are you Seyed Hossein Tamaddoni?

Claim your profile

Publications (11)1.59 Total impact

  • Seyed Hossein Tamaddoni, Saied Taheri, Mehdi Ahmadian
    [Show abstract] [Hide abstract]
    ABSTRACT: Dynamic game theory brings together different features that are keys to many situations in control design: optimisation behaviour, the presence of multiple agents/players, enduring consequences of decisions and robustness with respect to variability in the environment, etc. In the presented methodology, vehicle stability is represented by a cooperative dynamic/difference game such that its two agents (players), namely the driver and the direct yaw controller (DYC), are working together to provide more stability to the vehicle system. While the driver provides the steering wheel control, the DYC control algorithm is obtained by the Nash game theory to ensure optimal performance as well as robustness to disturbances. The common two-degrees-of-freedom vehicle-handling performance model is put into discrete form to develop the game equations of motion. To evaluate the developed control algorithm, CarSim with its built-in nonlinear vehicle model along with the Pacejka tire model is used. The control algorithm is evaluated for a lane change manoeuvre, and the optimal set of steering angle and corrective yaw moment is calculated and fed to the test vehicle. Simulation results show that the optimal preview control algorithm can significantly reduce lateral velocity, yaw rate, and roll angle, which all contribute to enhancing vehicle stability.
    Vehicle System Dynamics 12/2011; 49(12):1967-1979. · 0.77 Impact Factor
  • Source
    S.H. Tamaddoni, M. Ahmadian, S. Taheri
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, vehicle stability is represented by a cooperative dynamic game such that its two agents (players), namely, the driver and the direct yaw controller (DYC), are working together to provide more stability to the vehicle system. While the driver provides the steering wheel control, the DYC control algorithm is obtained by the well-known Nash game theory to ensure optimal performance as well as robustness to disturbances. The common bicycle model is put into discrete form to develop the game equations of motion. To evaluate the control algorithm developed, a nonlinear vehicle model along with the combined-slip Pacejka tire model is used. The control algorithm is evaluated for a lane change maneuver, and the optimal set of steering angle and corrective yaw moment is calculated and fed to the test vehicle. The simulation results show that the optimal preview control algorithm can significantly reduce lateral velocity and yaw rate which all contribute to enhancing vehicle stability.
    American Control Conference (ACC), 2011; 08/2011
  • Source
    Seyed Hossein Tamaddoni, Farid Jafari, Ali Meghdari, Saeed Sohrabpour
    I. J. Humanoid Robotics. 01/2010; 7:263-280.
  • Seyed Hossein Tamaddoni, Saied Taheri, Mehdi Ahmadian
    [Show abstract] [Hide abstract]
    ABSTRACT: In many severe maneuvers, the driver-controller interaction seems necessary for maintaining a stable vehicle. This paper introduces a novel cooperative direct yaw control (DYC) design for optimal vehicle stability control in the presence of human driver. The interaction is defined by forming a differential linear quadratic game between the driver who is controlling the steering angle and the controller which is controlling the brake torques. Evaluated by a nonlinear vehicle model, numerical simulations are presented for a vehicle in the standard fishhook test. Preliminary results show the effectiveness of this controller over a commonly used linear quadratic controller.
    Proceedings of the American Control Conference 01/2010;
  • Seyed Hossein Tamaddoni, Saied Taheri, Mehdi Ahmadian
    [Show abstract] [Hide abstract]
    ABSTRACT: This paper introduces a novel optimal vehicle stability controller in the presence of driver model. The concept is inspired by Nash strategy for exactly known systems with more than two players. In the presented method, the driver, commanding the steering angle, and the vehicle stability controller, applying compensated yaw moment, are defined as two players in a differential linear quadratic game. As a result, a novel optimal control algorithm is developed. Evaluated by a nonlinear vehicle model, numerical simulations are done for a single lane change manoeuvre, and preliminary results show the effectiveness of this controller over linear quadratic regulators.
    Int. J. of Vehicle Autonomous Systems. 01/2010; 8(2/3/4):171 - 189.
  • S.H. Tamaddoni, S. Taheri, M. Ahmadian
    [Show abstract] [Hide abstract]
    ABSTRACT: For optimal vehicle yaw stability control system development, inclusion of driver dynamics seems necessary. In this paper, a novel design approach is proposed for developing optimal solutions to vehicle stability control problems in the presence of the driver-in-the-loop steering models. The design concept is inspired by a Nash strategy for exactly known systems with more than two players. In the presented method, driver, controlling the steering wheel, and vehicle stability control unit, applying braking torques on the wheels, are defined as two dynamic players in a 2-player differential LQ game, and as a result, a novel control algorithm is developed. The results from a numerical simulation of a single lane change maneuver show the effectiveness of this controller over the common LQR control approach.
    Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on; 11/2009
  • [Show abstract] [Hide abstract]
    ABSTRACT: Common methods of gait generation of bipedal locomotion based on experimental results, can successfully synthesize biped joints’ profiles for a simple walking. However, most of these methods lack sufficient physical backgrounds which can cause major problems for bipeds when performing fast locomotion such as running and jumping. In order to develop a more accurate gait generation method, a thorough study of human running and jumping seems to be necessary. Most biomechanics researchers observed that human dynamics, during fast locomotion, can be modeled by a simple spring loaded inverted pendulum system. Considering this observation, a simple approach for bipedal gait generation in fast locomotion is introduced in this paper. This approach applies a nonlinear control method to synchronize the biped link-segmental dynamics with the spring-mass dynamics. This is done such that while the biped center of mass follows the trajectory of the mass-spring model, the whole biped performs the desired running/jumping process. A computer simulation is done on a three-link under-actuated biped model in order to obtain the robot joints’ profiles which ensure repeatable hopping. The initial results are found to be satisfactory, and improvements are currently underway to explore and enhance the capabilities of the proposed method.
    Journal of Intelligent and Robotic Systems 09/2008; 53(2):101-118. · 0.83 Impact Factor
  • Seyed Hossein Tamaddoni, Saied Taheri
    [Show abstract] [Hide abstract]
    ABSTRACT: A new control algorithm and the adaptation laws required for estimation of unknown vehicle parameters have been developed for vehicle stability control (VSC). This algorithm is based on the Lyapunov Direct Method. A vehicle model with two degrees of freedom (DOF) was used to develop the control algorithm. In developing the equations of motion for this simple model, a new approach for introducing the needed stabilizing forces and moments was developed. In addition, an eight DOF model was developed for control algorithm evaluation. The model includes lateral, longitudinal, yaw, and roll motions of the body plus the rotational DOFs for all of the four wheels. Also included in the model is a transient tire model taking into account the tire lateral relaxation length. Using the validated 8 DOF simulation model, the new control algorithm was evaluated and the results show the advantages of using such an approach for enhancing vehicle stability during emergency steering maneuvers.
    ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 01/2008
  • [Show abstract] [Hide abstract]
    ABSTRACT: In many types of fast animal and human locomotion an almost sinusoidal pattern is observed for the ground reaction force; therefore, a simple spring-mass model can approximate the generally observed force pattern. The adjustment of the leg during running, jumping or hopping is addressed using a spring-mass model with a fixed landing angle of attack with the objective of obtaining periodic movement patterns. We found that this self-stabilizing spring-mass model can be applied as a movement criterion for biped joints’ trajectory generation in jumping. To create desired velocity and stride-to-stride length, a synchronization method was applied between biped nonlinear dynamics and spring-mass dynamics as slave and master dynamics, respectively. The results of performed simulations show that while our model lacks the flight phase and impact model for a complete cycle of jumping process, this technique might become of great use in the future’s biped path planning which we call it “dynamic path planning”.
    ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 01/2007
  • Ali Meghdari, Seyed Hossein Tamaddoni, Farid Jafari
    [Show abstract] [Hide abstract]
    ABSTRACT: The motivation of this work is to synthesize a kicking pattern for a humanoid robot with consideration of various objectives such as retaining its balance even after the kick is done and reducing the undesired angular momentum using both hands and torso. This kick pattern is designed so that a desirable ball velocity is achieved. In this paper, the law of conservation of angular momentum is used to generate a less energy consuming trajectory. Effectiveness of the proposed method is verified using computer simulation and is tested on Sharif CEDRA humanoid robot.
    ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 01/2006
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents the overall dynamics analysis for humanoid robots and proposes a method to extend the dynamics equations to check the stability conditions and compute the maximum torques required at each joint. We consider a humanoid robotics system with various base conditions. As the robot walks, the robot will switch between single and double support conditions. The conventional works on dynamical stability of the robots mostly uses simple models with invariant bases. Our proposed method models a robot with various base conditions and describes the dynamics equations of humanoid robots in three dimensional space. Using this method, a straight walking was simulated as a sample gait during which joint torques was achieved and the stability condition was tested.
    ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 01/2005