Ciencias Exactas y Ciencias de la Salud

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Active dampers and stabilizer bar for heave and roll controll in SUVs: A comparison study considering actuator dynamics
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-01-22) Audiffred Ramírez, Arturo Abihú; Galluzzi Aguilera, Renato; emipsanchez; Riccardo Cespi; Escuela de Ingeniería y Ciencias; Campus Ciudad de México; Bustamante Bello, Rogelio
This thesis conducts a comparative analysis of an active stabilizer bar and suspension system for vehicular roll control. The core objectives are to assess the efficacy of these advanced systems in mitigating the roll effect. Comprehensive mathematical half-car models for both active stabilizer bar and suspension system were developed, incorporating detailed models for the tire and actuators dynamics. Simulations were executed using MATLAB Simulink®to evaluate the performance under various driving conditions and scenarios. Classic control strategies including Proportional-Integral-Derivative (PI) and Skyhook, were designed and implemented to compare the system responses. Simulation results demonstrate substantial improvements in roll stability for both systems compared to traditional passive solutions. However, notable distinctions in performance, as well as energy consumption are identified, elucidating the inherent trade-offs between the suspension configurations proposed and further explained throughout this work. An energy and complexity analysis was performed to compare the feasibility costs associated with the active stabilizer bar and suspension system, as well as the configurations and tradeoffs they offer. The analysis reveals that while the active anti-roll bar system offers superior roll control, active dampers present a more effective solution with adequate performance for a broader range of applications. In summary, this thesis provides an in-depth evaluation on different configurations of an active stabilizer bar and suspension system, delivering critical insights and practical recommendations for their deployment and further conclusions on their research and development in contemporary vehicle dynamics and control systems.
Autonomous vehicles navigation strategies enforcing safety with control barrier functions
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024) Rodriguez Ramirez, Jesús Orlando; González Hernández, Hugo Gustavo; emimmayorquin; Bustamante Bello, Martín Rogelio; School of Engineering and Sciences; Campus Ciudad de México; Avendaño Reyes, Jorge Antonio
Autonomous vehicles have been a constant study area with many different areas to be exploited, one of them being regarding the navigation problem, and in this research we will be focused on certain technique that has been put into the spotlight recently, the proposed method will be tested both on a Matlab simulation and then on a physical platform known as Qcar developed by Quanser. The proposed solution to the safety problem while performing a navigation task was designed to drive our system, in this case an Ackerman steered vehicle through a predefined trajectory while avoiding an obstacle that is not on the original planning of the route, the design of this restriction has the inherent property of being already mathematically proved to enforce safety if designed correctly. The designed solution is to be tested with a simple pure pursuit control algorithm and once it is proven that can drive the system through the desired trajectory on simulation, it will be modified so it can be tested on the platform present on campus, given that the software that runs on it is closed and not open to modifications, it will require the implementation of Python libraries to run correctly, and given the nature of the platform a simplified version of the algorithm will be needed, this is further discussed on this document, video, code and experiments can be found on the results section of this document.

Ciencias Exactas y Ciencias de la Salud

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