P. Setlur

California State University, Sacramento, Sacramento, CA, United States

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Publications (17)13.88 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: The introduction of steer-by-wire system technology into ground transportation vehicles permits customization of the human-machine haptic interface to accommodate the driver's desired level of road ldquofeel.rdquo The ability to tune the steering system's dynamic behavior can potentially enhance the driver's overall performance and increase the vehicle's safety. A nonlinear tracking controller is designed to ensure that the directional control steering assembly follows the operator's commanded maneuvers at the driver interface. In addition, the controller provides the driver with tunable force feedback proportional to the reaction forces at the tire-road interface. Two control techniques are provided to guarantee that the corresponding tracking errors are asymptotically forced to zero. The first compensates for parametric uncertainty, whereas the second eliminates the need for torque measurements through the use of observers. Representative numerical and experimental results are presented to demonstrate the controller's performance for various driving scenarios.
    IEEE Transactions on Vehicular Technology 03/2009; · 2.06 Impact Factor
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    ABSTRACT: The application of multi-disciplinary automotive technologies to hybrid vehicles has resulted in the integration of alternative propulsion sources and drive-by-wire components for enhanced ground vehicle performance, fuel economy, and occupant safety. The integration of steer-by-wire systems in vehicles facilitates autonomous and semi-autonomous operations, better lateral vehicle behavior, an adjustable steering "feel," and elimination of problems arising due to potential engine cycling. In this paper, a continuous time-varying tracking controller is designed for the vehicle's position/orientation using a simplified vehicle description and reference model for tracking. The tracking error is globally, exponentially forced to a neighborhood of about zero by transforming the system into a flat input-state system and then fusing a filtered tracking error transformation with the dynamic oscillator design. Mathematical models are presented for a steer-by-wire rack and pinion unit, vehicle chassis, and tire/road interface dynamics. Representative numerical results are discussed to demonstrate the vehicle's transient response for a prescribed trajectory profile.
    IEEE Transactions on Vehicular Technology 02/2006; · 2.06 Impact Factor
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    ABSTRACT: Outcomes assessment is now an integral part of the ABET accreditation criteria. The process to implement an automated on-line area level assessment test that helps meet ABET requirements is discussed. Selection of appropriate technology, online test questions generation and administering the test, initial implementation results and future work are discussed
    Frontiers in Education, 2005. FIE '05. Proceedings 35th Annual Conference; 11/2005
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    ABSTRACT: This paper considers the camera-space position and orientation regulation problem for the camera-in-hand problem via visual serving in the presence of parametric uncertainty associated with the robot dynamics and the camera system. Specifically, an adaptive robot controller is developed that forces the end-effector of a robot manipulator to move such that the position and orientation of an object are regulated to a desired position and ori-
    Journal of Robotic Systems 09/2005; 22:457-473. · 0.48 Impact Factor
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    ABSTRACT: Internal combustion engine thermal management system functionality can be enhanced through the introduction of smart thermostat valves and variable speed electric pumps and fans. The traditional automotive cooling system components include a wax based thermostat valve and crankshaft driven water pump. However, servo-motor driven valves, pumps, and fans can better regulate the engine's coolant fluid flow to realize fuel economy gains and tailpipe emission reductions. To study these cooling system actuators, with accompanying nonlinear control strategy, a scale experimental system has been fabricated which features a smart valve, electric coolant pump, radiator with electric fan, and immersion heater. In this paper, mathematical models will be presented to describe the system's behavior. A nonlinear controller will then be designed for transient temperature tracking. Representative experimental results are presented and discussed to demonstrate the smart valve's operation in maintaining the temperature within a neighborhood of the target value for various scenarios including highway mode, full power with load disturbance, and quick heat.
    IEEE/ASME Transactions on Mechatronics 05/2005; · 3.14 Impact Factor
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    ABSTRACT: In this short paper, we consider the nonlinear control of kinematically redundant robot manipulators. Specifically, we use a Lyapunov technique to design a model-based nonlinear controller that achieves exponential link position and subtask tracking. We note that the control strategy does not require the computation of positional inverse kinematics and does not place any restriction on the self-motion of the manipulator; hence, the extra degrees of freedom are available for subtasks (i.e., maintaining manipulability, avoidance of mechanical limits and obstacle avoidance). Experimental implementations on a redundant robot are also included to illustrate the performance of the proposed control law.
    IEEE/ASME Transactions on Mechatronics 04/2004; · 3.14 Impact Factor
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    ABSTRACT: A high precision, cost effective, experimental hardware-in-the-loop steer-by-wire test environment is presented and discussed to support engineering and psychology studies. In this project, a suite of chassis models and nonlinear control algorithms are developed and validated, as well as various human-machine interface design issues investigated. This paper provides an overview of the real time steering simulator which has been created to facilitate the comparison and evaluation of vehicle and steering system control strategies in a repeatable manner. The insertion of novel driver input devices, with adjustable force feedback, permits the study of the human-vehicle interface. The remote operation and/or supervision of semi-autonomous or autonomous vehicles can be studied using a human-in-the-loop system to provide insight into the relative importance to the driver of various vehicle parameters.
    American Control Conference, 2003. Proceedings of the 2003; 07/2003
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    P. Setlur, J. Wagner, D. Dawson, J. Chen
    [Show abstract] [Hide abstract]
    ABSTRACT: The functionality of gasoline and diesel engine thermal management systems can be enhanced through the introduction of a smart thermostat valve and variable speed water pump. A nonlinear tracking controller is presented in this paper for advanced thermal management systems applicable to ground vehicles. Specifically, the controller is designed to ensure that the engine temperature follows a desired temperature trajectory which may be prescribed based on operating conditions. Further, the heat rejected from the system at the radiator is controlled by adjusting the radiator fan's speed. The controller ensures that the engine temperature tracking error is asymptotically forced to zero while compensating for the unmeasurable heat input from the engine's combustion process.
    American Control Conference, 2003. Proceedings of the 2003; 07/2003
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper considers the problem of position control of planar robot manipulators via visual servoing in the presence of uncertainty associated with the robot mechanical dynamics and the camera system for both fixed-camera and camera-in-hand configurations. Specifically, we first design a robust controller that compensates for uncertainty throughout the whole robot-camera system and ensures global uniformly ultimately bounded position tracking for the fixed-camera configuration. Under the same class of uncertainty, we then develop a setpoint controller for the camera-in-hand configuration that achieves global uniformly ultimately bounded regulation. Experimental results illustrating the performance of both controllers are also included. © 2003 Wiley Periodicals, Inc.
    Journal of Robotic Systems 02/2003; 20(2):93 - 106. · 0.48 Impact Factor
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    ABSTRACT: Automotive engineers are continuously exploring various engine, transmission, and chassis technologies to increase overall vehicle performance, fuel economy, and safety. One promising powertrain concept is the continuously variable transmission (CVT), which offers a continuum of infinitely variable gear ratios between established minimum and maximum limits. This continuous gear ratio spectrum can increase the overall powertrain efficiency and eliminate the unwanted jerks associated with manual and automatic transmissions. Although basic CVT designs may have difficulty with high torque/low speed requirements, a power split continuously variable transmission configuration offers both fixed gearing and adjustable pulleys to satisfy driving demands. The effective control of the variable radius pulleys allows the designation of engine torque/speed to improve overall system performance for a given operating condition. In this paper, the fundamental components, configuration, and kinematics of a power split CVT will be briefly introduced. The problem of wheel speed (i.e., cruise) control of a CVT equipped vehicle will be considered. An innovative adaptive nonlinear controller will be designed to ensure asymptotic tracking of the desired wheel speed. Representative numerical results are presented and discussed to demonstrate the ability of the integrated CVT and engine controller in tracking the prescribed wheel speed.
    IEEE Transactions on Control Systems Technology 02/2003; · 2.52 Impact Factor
  • J. Field Robotics. 01/2003; 20:93-106.
  • Source
    P. Setlur, D. Dawson, J. Wagner, Y. Fang
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, a continuous time-varying tracking controller is designed for a steer-by-wire system in a automotive vehicle to ensure that the vehicles position/orientation follow that of a reference generator. The tracking error is globally and exponentially forced to a neighborhood about zero that can be made arbitrarily small (i.e., globally, uniformly and ultimately boundedness). The result is facilitated by transforming the system into a flat input-state system and then fusing a filtered tracking error transformation with the dynamic oscillator design. We also illustrate that the proposed tracking controller yields a globally, uniformly and ultimately bounded result for the regulation problem.
    American Control Conference, 2002. Proceedings of the 2002; 02/2002
  • [Show abstract] [Hide abstract]
    ABSTRACT: New stringent emission regulations are requiring automotive engineers to develop vehicles featuring multiple energy sources and innovative drivetrain components. One such innovation is the continuously variable transmission (CVT) which offers a continuum of variable gear ratios for greater efficiency and elimination of unwanted jerks in comparison to fixed gear transmissions. The power split CVT configuration offers both fixed gearing and adjustable pulleys to satisfy the torque/speed demands. Spool valves regulate the hydraulic fluid to actuate the CVT’s primary and secondary sheaves for gear ratio manipulation based on the belt’s tension requirements. To fully support the evaluation of various powertrain configurations and control algorithms, a design tool must be developed which characterizes the complete powertrain system. In this paper, a power split CVT will be mathematically modeled and analyzed. Dynamic models will be introduced for the transmission, driveline, and chassis with attention focused on the CVT pulleys and hydraulics. Representative numerical results will be presented and discussed to quantify the performance of the power split CVT and sheave actuation for prescribed driving maneuvers.
    ASME 2002 International Mechanical Engineering Congress and Exposition; 01/2002
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Automotive engineers are continuously exploring various engine, transmission, and chassis technologies to increase overall vehicle performance, fuel economy, and safety. One promising powertrain concept is the continuously variable transmission (CVT) which offers a continuum of infinitely variable gear ratios between established minimum and maximum limits. This continuous gear ratio spectrum can increase the overall powertrain efficiency and eliminate the unwanted jerks associated with manual and automatic transmissions. Although basic CVT designs may have difficulty with high torque/low speed requirements, a hybrid power split continuously variable transmission configuration offers both fixed gearing and adjustable pulleys to satisfy driving demands. The effective control of the variable radius pulleys allows the designation of engine torque/speed to improve overall system performance for a given operating condition. In the paper, the fundamental components, configuration, and kinematics of a power split CVT are discussed. A suite of mathematical models is presented which includes the internal combustion spark ignition engine, clutch, transmission differential, and chassis dynamics. The problem of wheel speed control of a CVT equipped vehicle is considered. An adaptive nonlinear controller is designed to ensure asymptotic tracking of the desired wheel speed
    American Control Conference, 2001. Proceedings of the 2001; 02/2001
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: We design a continuous, time-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the position/orientation tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious design of a dynamic oscillator in conjunction with two state transformations. We also illustrate how the proposed tracking controller yields the same stability result for the stabilization problem
    Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on; 02/2001
  • Source
    P. Setlur, D. Dawson, Y. Fang, B. Costic
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, we present a nonlinear tracking controller for the nonminimum-phase, underactuated model of a vertical take off and landing (VTOL) aircraft. Specifically, the controller is designed to ensure that the VTOL aircraft position/orientation tracks a reference signal generator. The controller ensures that the position/orientation tracking error can be exponentially forced into an arbitrarily small neighborhood around zero (i.e., globally uniformly ultimately bounded (GUUB) tracking)
    Decision and Control, 2001. Proceedings of the 40th IEEE Conference on; 02/2001
  • Source

Publication Stats

165 Citations
13.88 Total Impact Points

Institutions

  • 2005–2006
    • California State University, Sacramento
      • Department of Electrical and Electronic Engineering
      Sacramento, CA, United States
  • 2004
    • Gebze Institute of Technology
      • Department of Computer Engineering
      Gebze, Kocaeli, Turkey
  • 2001–2003
    • Clemson University
      • Department of Electrical and Computer Engineering
      Clemson, SC, United States