Balazs Varszegi

Budapest University of Technology and Economics · Department of Mechatronics, Optics and Information Engineering

In this paper, we consider the stabilization of φ̈(t)−a0φ(t)=−kpφ(t−τ−δp)−kdφ̇(t−τ−δd)−kaφ̈(t−τ−δa),which describes the control of an inverted pendulum by detuned proportional-derivative-acceleration (PDA) feedback. We show that the system can be stabilized using an appropriate choice of the control parameters kp, kd, ka and δp, δd, δa ≥0 if τ is s...

This paper presents the design and implementation of a small-scale hardware-in-the-loop test environment for lateral vehicle dynamics controllers. The test rig consists of a conveyor belt and a 1:10 scale model vehicle. The vehicle is anchored to the frame of the conveyor belt using a special fixture, which constrains only the longitudinal displace...

The lateral position control of the vehicle is analyzed in the presence of time delay. To compensate the negative effects of dead time, the predictor control approach called finite spectrum assignment is applied. This controller includes a linear model of the plant and uses the solution of this model over the delay interval to predict the current s...

Lane keeping control of the single track vehicle model with linear tire characteristics is analyzed in the presence of time delay. In order to compensate time delay, the predictor control approach called finite spectrum assignment is applied. This controller uses an internal model of the plant to predict current system states in spite of the time d...

A simple mechanical model for the lateral and yaw motion of a vehicle is presented while taking into account rolling constraints. The governing equations are derived by utilizing the Appellian framework. Analytical and numerical bifurcation analysis is performed while utilizing a PD controller. The results provide insight into the local and global...

The aim of this study is to investigate the dynamics of an accelerating skater–board system modeling downhill motion. The governing mathematical model is a system of time-varying neutral delay-differential equations. Stability analysis is performed based on the frozen-time method, and the results are verified via numerical simulations. It is shown...

The Solow-Swan model is analyzed with constant population growth rate and fix delay in the production process and in the depreciation. The linear stability of the trivial equilibrium and the steady state is investigated via stability charts after the identification of the effect of the delay on the level of the steady state. After that, the rate of...

This paper investigates stability issues related to time delay in lateral vehicle control. First, the effects of feedback delay are examined in a single track vehicle model with proportional state feedback. The time delay is then compensated using a predictor based control approach called finite spectrum assignment (FSA). This controller calculates...

A simple mechanical model of the skateboard-skater system is analyzed, in which a linear proportional-derivative (PD) controller with delay is included to mimic the effect of human control. The equations of motion of the nonholonomic system are derived with the help of the Gibbs-Appell method. The linear stability analysis of the rectilinear motion...

A simple mechanical model of the skateboard–skater system is analysed, in which the effect of human control is considered by means of a linear proportional-derivative (PD) controller with delay. The equations of motion of this non-holonomic system are neutral delay-differential equations. A linear stability analysis of the rectilinear motion is car...

A simple mechanical model of the skateboard-skater system is analysed, in which the effect of human control is considered by means of a linear proportional-derivative (PD) controller with delay. The equations of motion of this non-holonomic system are neutral delay-differential equations. A linear stability analysis of the rectilinear motion is car...

The lateral instabilities of vehicles are well-known phenomena, see for example, the shimmy motions of bikes, motorbikes or the steered wheels of cars. Another interesting phenomenon is the snaking motion of the skateboard-skater system that is analyzed in this study. A mechanical model of the downhill skateboarding is constructed in order to consi...

A simple mechanical model of the skateboard-skater system is analyzed, in which a linear PD controller with delay is included to mimic the effect of human control. The equations of motion of the non-holonomic system are derived with the help of the Gibbs-Appell method. The linear stability analysis of rectilinear motion is carried out analytically...

A simple mechanical model of the skateboard-skater system is analyzed, in which the skater tries to follow a straight line by the board. The human control is considered by means of a linear delayed PD controller. The equations of motion of the non-holonomic system are derived with the help of the Gibbs-Appell method. The linear stability of the sys...

A simple mechanical model of the skateboard-skater system is constructed in which a PD controller with time delay is implemented. Equations of motion are derived with the help of Appell-Gibbs method and are linearized around straight uniform motion. The linear stability analysis is carried out analytically using the D-subdivision method. Stability...