J. Christian Gerdes
Professor of Mechanical Engineering
Bio
Professor Gerdes' research centers on the application of dynamic modeling to problems in nonlinear control, estimation and diagnostics. Specific areas of interest include the development of driver assistance systems for lane keeping and collision avoidance, modeling and control of novel combustion processes for Internal Combustion engines and diagnostics for automotive drive-by-wire systems. Prior to joining Stanford, Professor Gerdes was the project leader for vehicle dynamics at the Vehicle Systems Technology Center of Daimler-Benz Research and Technology North America. His work at Daimler focused on safety analysis and simulation-based design of heavy trucks for the Freightliner Corporation.
Honors & Awards
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Frederick Emmons Terman Fellowship, Stanford University (1998-2001)
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CAREER Award, National Science Foundation
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Best Paper Award, 6th International Symposium on Advanced Vehicle Control (AVEC) (2002)
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Presidential Early Career Award for Scientists and Engineers, National Science Foundation (2002)
Professional Education
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PhD, UC Berkeley, Mechanical Engineering (1996)
2014-15 Courses
- Mechanical Engineering Design
ME 113 (Spr) - Mechanical Systems Design
ME 112 (Win) - Vehicle Dynamics and Control
ME 227 (Spr) -
Independent Studies (8)
- Engineering Problems
ME 391 (Aut, Win, Spr, Sum) - Engineering Problems and Experimental Investigation
ME 191 (Aut, Win, Spr, Sum) - Experimental Investigation of Engineering Problems
ME 392 (Aut, Win, Spr, Sum) - Honors Research
ME 191H (Aut, Win, Spr, Sum) - Ph.D. Teaching Experience
ME 491 (Aut, Win, Spr, Sum) - Practical Training
ME 199A (Sum) - Practical Training
ME 299A (Aut, Win, Spr, Sum) - Practical Training
ME 299B (Aut, Win, Spr, Sum)
- Engineering Problems
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Prior Year Courses
2013-14 Courses
- Vehicle Dynamics and Control
ME 227 (Spr)
2012-13 Courses
- Electric Vehicle Design
ME 185 (Spr) - Mechanical Systems Design
ME 112 (Win) - Vehicle Dynamics and Control
ME 227 (Spr)
2011-12 Courses
- Electric Vehicle Design
ME 185 (Spr) - Mechanical Systems Design
ME 112 (Win) - The Future of the Automobile
ME 302 (Win, Spr) - Vehicle Dynamics and Control
ME 227 (Spr)
- Vehicle Dynamics and Control
Journal Articles
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An analytical method for reducing combustion instability in homogeneous charge compression ignition engines through cycle-to-cycle control
INTERNATIONAL JOURNAL OF ENGINE RESEARCH
2015; 16 (3): 485-500
View details for DOI 10.1177/1468087414557052
View details for Web of Science ID 000351751500014
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Designing Steering Feel for Steer-by-Wire Vehicles Using Objective Measures
IEEE-ASME TRANSACTIONS ON MECHATRONICS
2015; 20 (1): 373-383
View details for DOI 10.1109/TMECH.2014.2324593
View details for Web of Science ID 000352060700037
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A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2014; 136 (5)
View details for DOI 10.1115/1.4027471
View details for Web of Science ID 000340615600015
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Hybrid Model Predictive Control of Exhaust Recompression Hcci
ASIAN JOURNAL OF CONTROL
2014; 16 (2): 370-381
View details for DOI 10.1002/asjc.725
View details for Web of Science ID 000332412100006
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Incorporating Non-Linear Tire Dynamics into a Convex Approach to Shared Steering Control
2014 AMERICAN CONTROL CONFERENCE (ACC)
2014: 3468-3473
View details for Web of Science ID 000346492604008
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Low Friction Emulation of Lateral Vehicle Dynamics Using Four-Wheel Steer-by-Wire
2014 AMERICAN CONTROL CONFERENCE (ACC)
2014: 3924-3929
View details for Web of Science ID 000346492604083
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Multicylinder HCCI Control With Coupled Valve Actuation Using Model Predictive Control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2013; 135 (5)
View details for DOI 10.1115/1.4024299
View details for Web of Science ID 000326090400018
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Model Predictive Control for Vehicle Stabilization at the Limits of Handling
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2013; 21 (4): 1258-1269
View details for DOI 10.1109/TCST.2012.2200826
View details for Web of Science ID 000320717600020
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Staying within the nullcline boundary for vehicle envelope control using a sliding surface
VEHICLE SYSTEM DYNAMICS
2013; 51 (2): 199-217
View details for DOI 10.1080/00423114.2012.720377
View details for Web of Science ID 000313419200002
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Control of recompression HCCI with a three region switching controller
CONTROL ENGINEERING PRACTICE
2013; 21 (2): 135-145
View details for DOI 10.1016/j.conengprac.2012.09.003
View details for Web of Science ID 000314077900001
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MULTI-CYLINDER HCCI CONTROL WITH CAM PHASER VARIABLE VALVE ACTUATION USING MODEL PREDICTIVE CONTROL
PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 2
2013: 823-831
View details for Web of Science ID 000323918000099
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SIMPLE CLOTHOID PATHS FOR AUTONOMOUS VEHICLE LANE CHANGES AT THE LIMITS OF HANDLING
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3
2013
View details for Web of Science ID 000338124000078
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USING A PATH-FITTING ALGORITHM TO ANALYZE THE RACING TECHNIQUES OF A SKILLED DRIVER
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3
2013
View details for Web of Science ID 000338124000081
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NONLINEAR OPTIMIZATION OF A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES
PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 1
2013: 235-241
View details for Web of Science ID 000323918100027
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Modeling and Control of Exhaust Recompression HCCI SPLIT FUEL INJECTION FOR CYLINDER-INDIVIDUAL COMBUSTION CONTROL
IEEE CONTROL SYSTEMS MAGAZINE
2012; 32 (4): 26-42
View details for DOI 10.1109/MCS.2012.2194840
View details for Web of Science ID 000306644000005
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Sliding Surface Vehicle Envelope Control: A Cooperative Design Between Controller and Envelope
2012 AMERICAN CONTROL CONFERENCE (ACC)
2012: 6521-6526
View details for Web of Science ID 000310776206135
- Modeling and control of exhaust recompression HCCI: split fuel injection for cylinder-individual combustion control IEEE Control Systems Magazine 2012; 4 (32): 26-42
- Autonomous vehicle control at the limits of handling International Journal of Vehicle Autonomous Systems 2012; 4 (10): 271-296
- Using the center of percussion to design a steering controller for an autonomous race car Vehicle System Dynamics, 50 (Supplement) 2012: 33-51
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Up to the Limits: Autonomous Audi TTS
2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)
2012: 541-547
View details for Web of Science ID 000309167700089
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CONTROLLING VEHICLE INSTABILITY THROUGH STABLE HANDLING ENVELOPES
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2
2012: 861-868
View details for Web of Science ID 000321985400118
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COMBUSTION PHASING VARIATION REDUCTION FOR LATE-PHASING HCCI THROUGH CYCLE-TO-CYCLE PILOT INJECTION TIMING CONTROL
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2
2012: 685-692
View details for Web of Science ID 000321985400094
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A CONTROLLER FRAMEWORK FOR AUTONOMOUS DRIFTING: DESIGN, STABILITY, AND EXPERIMENTAL VALIDATION
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2
2012: 901-908
View details for Web of Science ID 000321985400123
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GENERATING A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2
2012: 853-860
View details for Web of Science ID 000321985400117
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Late Phasing Homogeneous Charge Compression Ignition Cycle-to-Cycle Combustion Timing Control With Fuel Quantity Input
2012 AMERICAN CONTROL CONFERENCE (ACC)
2012: 2078-2083
View details for Web of Science ID 000310776202061
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Modeling and Control of an Exhaust Recompression HCCI Engine Using Split Injection
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2012; 134 (1)
View details for DOI 10.1115/1.4004787
View details for Web of Science ID 000299123800016
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Implementation and Analysis of a Repetitive Controller for an Electro-Hydraulic Engine Valve System
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2011; 19 (5): 1102-1113
View details for DOI 10.1109/TCST.2010.2076387
View details for Web of Science ID 000293982200012
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Pushing the limits: From lanekeeping to autonomous racing
ANNUAL REVIEWS IN CONTROL
2011; 35 (1): 137-148
View details for DOI 10.1016/j.arcontrol.2011.03.009
View details for Web of Science ID 000291337800010
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Control of Exhaust Recompression HCCI using Hybrid Model Predictive Control
2011 AMERICAN CONTROL CONFERENCE
2011: 420-425
View details for Web of Science ID 000295376000069
- Implementation and analysis of a repetitive controller for an electo-hydraulic engine valve system IEEE Transactions on Control Systems Technology 2011; 5 (19): 1102-1113
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Model-Based Control of HCCI Engines Using Exhaust Recompression
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2010; 18 (6): 1289-1302
View details for DOI 10.1109/TCST.2009.2036599
View details for Web of Science ID 000283450800005
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Estimation of Tire Slip Angle and Friction Limits Using Steering Torque
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2010; 18 (4): 896-907
View details for DOI 10.1109/TCST.2009.2031099
View details for Web of Science ID 000278997400012
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Representing Recompression HCCI Dynamics with a Switching Linear Model
2010 AMERICAN CONTROL CONFERENCE
2010: 3803-3808
View details for Web of Science ID 000287187904032
- Model based control of HCCI engines using exhaust recompression IEEE Transactions on Control Systems Technology 2010; 6 (18): 1289-1302
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A METHOD FOR INCORPORATING NONLINEAR TIRE BEHAVIOR INTO MODEL PREDICTIVE CONTROL FOR VEHICLE STABILITY
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1
2010: 157-164
View details for Web of Science ID 000319789100021
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SLIDING SURFACE ENVELOPE CONTROL: KEEPING THE VEHICLE WITHIN A SAFE STATE-SPACE BOUNDARY
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1
2010: 149-156
View details for Web of Science ID 000319789100020
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PHYSICAL MODELING AND CONTROL OF A MULTI-CYLINDER HCCI ENGINE
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B
2010: 549-556
View details for Web of Science ID 000279952600071
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EQUILIBRIUM ANALYSIS OF DRIFTING VEHICLES FOR CONTROL DESIGN
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B
2010: 181-188
View details for Web of Science ID 000279952600025
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CONTROLLING AN AUTONOMOUS RACING VEHICLE: USING FEEDFORWARD AND FEEDBACK TO CONTROL STEERING AND SPEED
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B
2010: 173-180
View details for Web of Science ID 000279952600024
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Analysis and control of high sideslip manoeuvres
VEHICLE SYSTEM DYNAMICS
2010; 48: 317-336
View details for DOI 10.1080/00423111003746140
View details for Web of Science ID 000284639100020
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Modeling and control of exhaust recompression HCCI using split injection
2010 AMERICAN CONTROL CONFERENCE
2010: 3797-3802
View details for Web of Science ID 000287187904031
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ENHANCING VEHICLE STABILITY THROUGH MODEL PREDICTIVE CONTROL
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B
2010: 197-204
View details for Web of Science ID 000279952600027
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PREDICTIVE CONTROL OF VEHICLE ROLL DYNAMICS WITH REAR WHEEL STEERING
2010 AMERICAN CONTROL CONFERENCE
2010: 1489-1494
View details for Web of Science ID 000287187901143
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Physics-Based Modeling and Control of Residual-Affected HCCI Engines
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2009; 131 (2)
View details for DOI 10.1115/1.3023125
View details for Web of Science ID 000265526900002
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LANEKEEPING AT THE LIMITS OF HANDLING: STABILITY VIA LYAPUNOV FUNCTIONS AND A COMPARISON WITH STABILITY CONTROL
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B
2009: 1161-1168
View details for Web of Science ID 000266709500147
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Robust fault detection filter design with applications to steer-by-wire vehicles
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16
2008: 215-223
View details for Web of Science ID 000255101700024
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Controller-observer implementation for cycle-by-cycle control of an HCCI engine
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16
2008: 177-185
View details for Web of Science ID 000255101700020
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Estimating thermodynamic state and ignition in HCCI with variable fuel injection timing
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16
2008: 195-204
View details for Web of Science ID 000255101700022
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Repetitive control of an electro-hydraulic engine valve actuation system
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12
2008: 975-980
View details for Web of Science ID 000259261500163
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Transient responses of alternative vehicle configurations: A theoretical and experimental study on the effects of atypical moments of inertia
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12
2008: 230-235
View details for Web of Science ID 000259261500041
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Generating diagnostic residuals for steer-by-wire vehicles
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2007; 15 (3): 529-540
View details for DOI 10.1109/TCST.2007.894650
View details for Web of Science ID 000246192300014
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Experimental vehicle handling modification through steer-by-wire and differential drive
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13
2007: 3814-3819
View details for Web of Science ID 000252258802160
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Degenerate mechanical systems - A framework for tracking control
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13
2007: 3729-3734
View details for Web of Science ID 000252258802146
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Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
2006; 7 (4): 483-493
View details for DOI 10.1109/TITS.2006.883110
View details for Web of Science ID 000242814300011
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Lyapunov based performance guarantees for the potential field lane-keeping assistance system
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2006; 128 (3): 510-522
View details for DOI 10.1115/1.2192835
View details for Web of Science ID 000240924300005
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Handwheel force feedback for lanekeeping assistance: Combined dynamics and stability
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2006; 128 (3): 532-542
View details for DOI 10.1115/1.2229256
View details for Web of Science ID 000240924300007
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Modeling cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation
CONTROL ENGINEERING PRACTICE
2006; 14 (3): 213-222
View details for DOI 10.1016/j.conengprac.2005.04.009
View details for Web of Science ID 000234916200003
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A two-input two-output control model of HCCI engines
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12
2006; 1-12: 472-477
View details for Web of Science ID 000241666300078
- Lyapunov based performance guarantees for the potential field lanekeeping assistance system ASME Journal of Dynamic Systems, Measurement and Control 2006; 3 (128): 532-542
- Cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation Control Engineering Practice 2006; 3 (14): 213-222
- GPS-Augmented vehicle dynamics control SAE Transactions, Journal of Passenger Cars: Mechanical Systems 2006: 1174-1182
- Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness IEEE Transactions on Intelligent Transportation Systems 2006; 4 (7): 483-493
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Modification of vehicle handling characteristics via steer-by-wire
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2005; 13 (6): 965-976
View details for DOI 10.1109/TCST.2005.854320
View details for Web of Science ID 000232943100011
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Consistent nonlinear estimation of longitudinal tire stiffness and effective radius
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2005; 13 (6): 1010-1020
View details for DOI 10.1109/TCST.2005.857408
View details for Web of Science ID 000232943100015
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Dynamic modeling of residual-affected homogeneous charge compression ignition engines with variable valve actuation
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2005; 127 (3): 374-381
View details for DOI 10.1115/1.1979511
View details for Web of Science ID 000232071400008
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Validating GPS based measurements for vehicle control
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B
2005: 583-592
View details for Web of Science ID 000245508100069
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Residual autocorrelation in probabilistic model-based diagnostics
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B
2005: 1255-1264
View details for Web of Science ID 000245508100148
- A physically based approach to control of HCCI engines with variable valve actuation International Journal of Engine Research 2005; 4 (6): 361-375
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Stabilization of a steer-by-wire vehicle at the limits of handling using feedback linearization
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B
2005: 483-492
View details for Web of Science ID 000245508100058
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Decoupled control of combustion timing and work output in residual-affected HCCI engines
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7
2005: 3871-3876
View details for Web of Science ID 000231947705027
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Differential geometric structures in vehicle lane keeping and roll mitigation
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7
2005: 441-446
View details for Web of Science ID 000231947700079
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Guaranteeing lanekeeping performance with tire saturation using computed polynomial lyapunov functions
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B
2005: 415-424
View details for Web of Science ID 000245508100050
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Automotive diagnostic decisions using probabilistic infomation
PROCEEDINGS OF IMECE 2005: ENGINEERING/TECHNOLOGY MANAGEMENT
2005: 157-166
View details for Web of Science ID 000243097500022
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Integrating inertial sensors with global positioning system (GPS) for vehicle dynamics control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2004; 126 (2): 243-254
View details for DOI 10.1115/1.1766026
View details for Web of Science ID 000223382800002
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Experimental validation of the potential field lanekeeping system
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
2004; 5 (2): 95-108
View details for Web of Science ID 000221856600004
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Physics-based closed-loop control of phasing, peak pressure and work output in HCCI engines utilizing variable valve actuation
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2004: 150-155
View details for Web of Science ID 000224688300025
- Vehicle sideslip and road bank angle estimation using GPS Review of Automotive Engineering JSAE 2004; 3 (25): 347-359
- Integrating inertial sensors with GPS for vehicle dynamics control ASME Journal of Dynamic Systems, Measurement and Control 2004; 2 (126): 243-254
- Error sources when land vehicle dead reckoning with differential wheelspeeds Navigation 2004; 1 (51): 13-29
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Vehicle state estimation using steering torque
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2004: 2116-2121
View details for Web of Science ID 000224688300360
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Input shaper design in convex optimization framework with frequency domain constraints
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2004: 2687-2692
View details for Web of Science ID 000224688300457
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Estimation of vehicle roll and road bank angle
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2004: 2110-2115
View details for Web of Science ID 000224688300359
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Command modification using input shaping for automated highway systems with heavy trucks
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2003: 54-59
View details for Web of Science ID 000186706200009
- Residual-effected homogeneous charge compression ignition at low compression ratio using exhaust reinduction International Journal of Engine Research 2003; 3 (4): 163-177
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Modeling for control of HCCI engines
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2003: 749-754
View details for Web of Science ID 000186706200129
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A gentle nudge towards safety: Experimental validation of the potential field driver assistance system
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2003: 3744-3749
View details for Web of Science ID 000186706200637
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Modification of vehicle handling characteristics via steer-by-wire
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2003: 2578-2583
View details for Web of Science ID 000186706200437
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Nonlinear estimation of longitudinal tire slip under several driving conditions
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2003: 4975-4980
View details for Web of Science ID 000186706200848
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A new yaw dynamic model for improved high speed control of a farm tractor
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2002; 124 (4): 659-667
View details for DOI 10.1115/1.1515329
View details for Web of Science ID 000180232400021
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"Loop-at-a-time" design of Dynamic Surface Controllers for nonlinear systems
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2002; 124 (1): 104-110
View details for DOI 10.1115/1.1433804
View details for Web of Science ID 000175335800013
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An error energy shaping interpretation of tracking controllers for mechanical systems
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2002: 3968-3973
View details for Web of Science ID 000178974700691
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The use of GPS based velocity measurements for measurement of sideslip and wheel slip
VEHICLE SYSTEM DYNAMICS
2002; 38 (2): 127-147
View details for Web of Science ID 000176574400003
- Loop-at-a-time’ design of dynamic surface controllers for nonlinear systems ASME Journal of Dynamic Systems, Measurement and Control 2002; 1 (124): 104-110
- Yaw dynamic modeling for improved high speed control of a farm tractor ASME Journal of Dynamic Systems, Measurement and Control 2002; 4 (124): 659-667
- The use of GPS based velocity measurements for measurement of sideslip and wheel slip Vehicle System Dynamics 2002; 2 (38): 127-147
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A probabilistic approach to residual processing for vehicle fault detection
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2002: 2552-2557
View details for Web of Science ID 000178974700445
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Combining lanekeeping and vehicle following with hazard maps
VEHICLE SYSTEM DYNAMICS
2001; 36 (4-5): 391-411
View details for Web of Science ID 000172806400006
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A unified approach to driver assistance systems based on artificial potential fields
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
2001; 123 (3): 431-438
View details for Web of Science ID 000171007500017
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Road grade and vehicle parameter estimation for longitudinal control using GPS
2001 IEEE INTELLIGENT TRANSPORTATION SYSTEMS - PROCEEDINGS
2001: 166-171
View details for Web of Science ID 000171438500031
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Calculating longitudinal wheel slip and tire parameters using GPS velocity
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2001: 1800-1805
View details for Web of Science ID 000173663300316
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Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2001: 25-30
View details for Web of Science ID 000173663300005
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Dynamic surface control for a class of nonlinear systems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
2000; 45 (10): 1893-1899
View details for Web of Science ID 000165173400013
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The use of GPS based velocity measurements for improved vehicle state estimation
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2000: 2538-2542
View details for Web of Science ID 000166106200520
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The role of handling characteristics in driver assistance systems with environmental interaction
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6
2000: 2528-2532
View details for Web of Science ID 000166106200518
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Brake system modeling for simulation and control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
1999; 121 (3): 496-503
View details for Web of Science ID 000082744600022
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Vehicle speed and spacing control via coordinated throttle and brake actuation
CONTROL ENGINEERING PRACTICE
1997; 5 (11): 1607-1614
View details for Web of Science ID A1997YF64600013
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Fault tolerant control of automatically controlled vehicles in response to brake system failures
PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS
1997: 705-710
View details for Web of Science ID A1997BJ81D00130
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Dynamic surface control of nonlinear system
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6
1997: 3028-3034
View details for Web of Science ID A1997BJ29B00646
- Vehicle speed and spacing control via coordinated throttle and brake actuation Control Engineering Practice 1997; 11 (5): 1607-1614
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Brake system requirements for platooning on an automated highway
PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6
1995: 165-169
View details for Web of Science ID A1995BD66H00035
Books and Book Chapters
- Changing lanes with active lanekeeping assistance: a simulator study Human Factors for assistance and automation edited by de Waard, D., Flemisch, F., Lorenz, B. Shaker Publishing, Maastricht, the Netherlands. 2008: 1
- Cam System Modeling Cam Design Handbook edited by Rothbart, Harold, A. Mc-Graw-Hill. 2003: 1
Conference Proceedings
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Model predictive control of HCCI using variable valve actuation and fuel injection
PERGAMON-ELSEVIER SCIENCE LTD. 2012: 421-430
View details for DOI 10.1016/j.conengprac.2011.12.002
View details for Web of Science ID 000301890500010
- Nonlinear optimization of a racing line for an autonomous racecar using professional driving techniques 2012
- Multi-Cylinder HCCI Control with Cam Phaser Variable Valve Actuation Using Model Predictive Control 2012
- Analysis of Measured Racing Lines: A Path Primitive Based Curve Fitting Approach 2012
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Using the centre of percussion to design a steering controller for an autonomous race car
TAYLOR & FRANCIS LTD. 2012: 33-51
View details for DOI 10.1080/00423114.2012.672842
View details for Web of Science ID 000306605100004
- Combustion Phasing Variation Reduction for Late-phasing HCCI Through Cycle-to-cycle Pilot Injecion Timing Control 2011
- Driftkeeping: Path tracking at the friction limits using high sideslip cornering 2011
- Using the center of percussion to generate feedforward steering for an autonomous race car 2011
- Controlling Vehicle Instability Through Stable Handling Envelopes 2011
- A controller framework for autonomous drifting: Design, stability, and experimental validation 2011
- Experimental Validation of a Linear Model Predictive Envelope Controller in the Presence of Vehicle Nonlinearities 2010
- Controlling Combustion Phasing of Recompression HCCI with a Switching Controller 2010
- Mid-Ranging Control of a Multi-Cylinder HCCI Engine Using Split Fuel Injection and Valve Timings 2010
- Autonomous Cornering at the Limits: Maximizing a ‘g-g’ Diagram by Using Feedforward Trail-Braking and Throttle-On-Exit 2010
- Envelope Control: Stabilizing within the Limits of Handling Using a Sliding Surface 2010
- Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle 2010
- Design of a Dynamic Surface Controller for Vehicle Sideslip Angle During Autonomous Drifting 2010
- Reducing Combustion Variation of Late-Phasing HCCI with Cycle-To-Cycle Exhaust Valve Timing Control 2010
- Predictive control of vehicle roll dynamics with rear wheelsteering 2010
- Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle 2010
- Analysis and Control of High Sideslip Maneuvers 2009
- Rollover event prevention through predictive control of coordinated actuators 2009
- Steer-by-wire suspension design: geometries to enhance peak tire force estimation 2009
- Controlling an Autonomous Racing Vehicle: Using Feedforward and Feedback to Control Steering and Speed 2009
- Envelope control: keeping the vehicle within its handling limits using front steering 2009
- Lanekeeping at the Handling Limits 2008
- Design and Tests of a Controller for Autonomous Vehicle Path Tracking Using GPS/INS Sensors 2008
- The Jacobian Expression of Roll Center: Derivation and Interpretation with Application to a Suspension with Active Camber 2008
- Lanekeeping at the Limits of Handling: Stability via Lyapunov Functions and a Comparison with Stability Control 2008
- The Predictive Nature of Pneumatic Trail: Tire Slip Angle and Peak Force Estimation using Steering Torque 2008
- Driver Response to Steering Torque Disturbances: A User Study on Assisted Lane-keeping 2007
- Degenerate Mechanical Systems – A Framework for Tracking Control 2007
- Model Based Control of Exhaust Recompression HCCI 2007
- Experimental Studies of Using Steering Torque Under Various Road Conditions for Sideslip and Friction Estimation 2007
- A 2-Input, 2-State Model of Residual-Affected HCCI Engines 2006
- A Physically Based Two-State Model for Controlling Exhaust Recompression HCCI in Gasoline Engines 2006
- An Energy Based Performance Bound for Lanekeeping Assistance with Force Feedback 2006
- A Dynamic Model of Recompression HCCI Combustion Including Cylinder Wall Temperature 2006
- High-Frequency Vehicle Characteristics: Modeling and Experimental Validation of Yaw, Sideslip, and Roll Modes 2006
- A Method to Estimate the Friction Coefficient and Tire Slip Angle Using Steering Torque 2006
- GPS Augmented Vehicle Dynamics Control 2006
- Real-time Tire Parameter Estimation in a Steer-by-wire Vehicle 2006
- Eliminating the Need for Sensor Redundancy in Diagnostic Systems for Steer-by-Wire Vehicles 2006
- Steer-by-Wire Suspension and Steering Design for Controllability and Observability 2005
- Residual Autocorrelation in Probabilistic Model-Based Diagnostics 2005
- Decoupled Control of Combustion Timing and Peak Pressure on an HCCI Engine 2005
- Automotive Diagnostic Decisions Using Probabilistic Information 2005
- Multi-cycle modeling of HCCI Engines 2004
- Tackling theTransition: A Multi-Mode Combustion Model of SI and HCCI for Mode Transition Control 2004
- Steer-by-Wire for Vehicle State Estimation and Control 2004
- Using MEMS Accelerometers to Improve Automobile Handwheel State Estimation for Force Feedback 2004
- Vehicle State Estimation in Diagnostic Systems for Steer-by-Wire Vehicles 2004
- Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability 2004
- Contraction and Sum of Squares Analysis of HCCI Engines 2004
- Optimal Rollover Prevention with Steer by Wire and Differential Braking 2003
- Safety Guarantees For Lanekeeping Assistance Systems With Time-Varying Disturbances: A Lyapunov Approach 2003
- Cycle-to-cycle control of HCCI Engines 2003
- Command Modification Using Input Shaping for Automated Systems with Heavy Trucks 2003
- A Probabilistic Vehicle Diagnostic System Using Multiple Models 2003
- Performance Guarantees for Hazard Based Lateral Vehicle Control 2002
- Identifying Tire Pressure Variation by Nonlinear Estimation of Longitudinal Stiffness and Effective Radius 2002
- Practical Position and Yaw Rate Estimation with GPS and Differential Wheelspeeds 2002
- A Comparison of Several Sliding Surfaces for Stability Control 2002
- Vehicle Sideslip and Roll Parameter Estimation Using GPS 2002
- A Study of Lateral Vehicle Control Under a ‘Virtual’ Force Framework 2002
- Multi-Modal Diagnostics for Vehicle Fault Detection 2001
- A Lyapunov Function Approach to Energy Based Model Reduction 2001
- Yaw dynamic modeling for improved high speed control of a farm tractor 2000
- Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles 2000
- Combining Lanekeeping and Vehicle Following with Hazard Maps 2000
- Hysteresis Control of Nonlinear Single-Acting Actuators as Applied to Brake/Throttle Switching 1999
- A Unified Approach to Driver Assistance Systems Based On Artificial Potential Fields 1999
- Loop-at-a-time Design of Dynamic Surface Controllers for Nonlinear Systems 1999
- Dynamic Surface Control of Nonlinear Systems 1997
- Fault Tolerant Control of Automatically Controlled Vehicles in Response to Brake System Failures 1997
- Vehicle Speed and Spacing Control via Coordinated Throttle and Brake Actuation 1996
- An Impact Model of Mechanical Backlash for Control System Analysis 1995
- Brake System Requirements for Platooning on an Automated Highway 1995
- Brake System Modeling for Vehicle Control 1995
- Brake System Modeling for IVHS Longitudinal Control, Advances in Robust and Nonlinear Control 1993
- Incorporating Design Into an Undergraduate Laboratory Course 1993