Seyed Hossein Tamaddoni

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

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Publications (8)1.59 Total impact

  • Seyed Hossein Tamaddoni, Saied Taheri, Mehdi Ahmadian
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    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
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    S.H. Tamaddoni, M. Ahmadian, S. Taheri
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    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
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    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
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    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
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    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
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    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
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    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
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    ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 01/2005