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1
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[
2
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T
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3
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.
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[
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6
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f
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ac
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[
9
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.
I
n
Sb
W
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
6
9
4
Th
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r
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d
feelin
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tr
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th
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teer
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(
F
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in
Hu
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)
1497
T
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[
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[
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[
1
3
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An
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Ar
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n
tellig
en
ce
(
AI
)
-
b
ased
co
n
tr
o
l
s
y
s
tem
s
o
f
f
er
ad
v
an
tag
es
in
p
er
f
o
r
m
i
n
g
ta
s
k
s
m
o
r
e
r
ap
id
ly
,
co
n
s
is
ten
tly
,
an
d
co
m
p
r
eh
e
n
s
iv
ely
.
Am
o
n
g
th
ese,
f
u
zz
y
lo
g
ic
co
n
tr
o
l
(
FLC)
h
as
p
r
o
v
en
t
o
b
e
a
r
eliab
le
A
I
tech
n
iq
u
e
f
o
r
m
a
n
ag
in
g
n
o
n
li
n
ea
r
s
y
s
tem
s
[
1
4
]
.
Ho
wev
er
,
d
eter
m
in
in
g
th
e
ap
p
r
o
p
r
iate
p
ar
am
eter
s
f
o
r
FLC
in
p
r
ac
tical
ap
p
licatio
n
s
r
e
m
ain
s
a
ch
allen
g
e
.
C
o
n
s
eq
u
e
n
tly
,
o
p
tim
izatio
n
m
eth
o
d
s
ar
e
r
eq
u
ir
ed
to
ef
f
ec
tiv
ely
tu
n
e
FLC p
ar
am
eter
s
[
1
5
]
,
[
1
6
]
.
Par
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
is
a
b
eh
av
io
r
-
b
ased
o
p
tim
izatio
n
m
et
h
o
d
k
n
o
wn
f
o
r
its
s
im
p
licity
an
d
r
ap
id
co
n
v
er
g
e
n
ce
,
in
s
p
ir
ed
b
y
th
e
s
o
cial
b
e
h
av
io
r
o
f
liv
in
g
o
r
g
an
is
m
s
s
u
ch
as
f
lo
ck
s
o
f
b
ir
d
s
o
r
s
ch
o
o
ls
o
f
f
is
h
[
2
]
,
[
1
7
]
.
T
o
f
u
r
t
h
er
en
h
an
ce
g
l
o
b
al
o
p
tim
ality
,
a
p
o
s
itio
n
u
p
d
ate
m
ec
h
an
is
m
b
ased
o
n
q
u
an
tu
m
m
ec
h
an
ics
was
in
t
r
o
d
u
ce
d
,
lead
in
g
to
th
e
d
ev
elo
p
m
en
t
o
f
q
u
an
tu
m
-
b
eh
a
v
ed
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
QPSO)
[
1
8
]
,
[
1
9
]
.
Su
b
s
eq
u
en
tly
,
a
d
d
itio
n
al
m
o
d
if
icatio
n
s
wer
e
m
a
d
e
to
th
e
lo
ca
l
attr
ac
to
r
p
ar
am
eter
s
to
im
p
r
o
v
e
g
lo
b
a
l
co
n
v
e
r
g
en
ce
ac
cu
r
ac
y
,
r
esu
ltin
g
in
th
e
m
o
d
if
ied
q
u
an
tu
m
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
MQ
PS
O)
m
eth
o
d
[
1
7
]
,
[
2
0
]
.
B
ased
o
n
th
is
b
ac
k
g
r
o
u
n
d
,
th
e
r
esear
ch
p
r
o
b
lem
a
d
d
r
ess
ed
in
th
is
s
tu
d
y
is
h
o
w
to
d
esig
n
a
co
n
tr
o
l
s
y
s
tem
ca
p
ab
le
o
f
g
en
er
atin
g
a
r
ea
lis
tic
r
o
ad
f
ee
l
in
a
s
teer
-
by
-
wir
e
(
Sb
W
)
s
y
s
tem
u
s
in
g
f
u
zz
y
lo
g
ic
co
n
tr
o
l
(
FLC)
o
p
tim
ized
with
MQ
PS
O.
T
h
e
p
r
im
ar
y
o
b
jectiv
e
is
to
ac
h
iev
e
o
p
tim
al
co
n
tr
o
l
o
f
s
t
ee
r
in
g
m
o
to
r
t
o
r
q
u
e
b
y
in
teg
r
atin
g
v
eh
icle
d
y
n
am
ics
—
in
clu
d
in
g
s
teer
in
g
an
g
le
,
v
eh
icle
s
p
ee
d
,
an
d
s
teer
in
g
r
atio
—
wh
ile
also
ac
co
u
n
tin
g
f
o
r
in
er
tia,
r
o
a
d
f
r
ictio
n
co
ef
f
icien
t,
an
d
m
o
t
o
r
to
r
q
u
e
,
in
o
r
d
e
r
to
s
im
u
late
th
e
r
ea
l
-
wo
r
ld
p
er
f
o
r
m
an
ce
o
f
th
e
Sb
W
s
y
s
tem
.
2.
M
E
T
H
O
D
2
.
1
.
F
L
C
co
ntr
o
l sy
s
t
e
m
des
ig
n
A
s
im
u
latio
n
m
o
d
el
f
o
r
t
h
e
r
o
ad
f
ee
l
co
n
t
r
o
l
s
y
s
tem
in
a
s
teer
-
by
-
wir
e
(
Sb
W
)
co
n
f
i
g
u
r
atio
n
was
d
esig
n
ed
u
s
in
g
FLC
im
p
lem
e
n
ted
in
MA
T
L
AB
Simu
lin
k
.
T
h
e
co
n
tr
o
l
s
y
s
tem
ar
ch
itectu
r
e
in
clu
d
es
in
p
u
ts
s
u
ch
as
v
eh
icle
s
p
ee
d
,
s
teer
in
g
an
g
le,
an
d
s
teer
in
g
r
atio
(
SR
)
,
with
th
e
o
u
tp
u
t
b
ein
g
th
e
m
o
to
r
cu
r
r
en
t
th
a
t
g
en
er
ates
to
r
q
u
e
o
n
th
e
s
teer
in
g
wh
ee
l,
as
illu
s
tr
ated
in
Fig
u
r
e
1
.
T
h
e
FLC
g
en
er
ates
to
r
q
u
e
o
u
tp
u
t b
ased
o
n
a
s
et
o
f
p
r
ed
ef
in
e
d
r
u
les
aim
ed
at
r
ep
licatin
g
th
e
r
o
ad
f
ee
d
b
ac
k
p
er
ce
i
v
ed
b
y
th
e
d
r
iv
er
.
T
h
e
p
ar
am
eter
s
o
f
th
e
m
em
b
er
s
h
ip
f
u
n
cti
o
n
s
—
s
u
ch
as
s
ca
lin
g
f
ac
t
o
r
s
an
d
g
ain
m
u
ltip
lier
s
—
ar
e
o
p
tim
ized
u
s
in
g
th
e
m
o
d
if
ied
q
u
an
tu
m
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
MQ
PS
O)
alg
o
r
ith
m
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
th
e
r
o
ad
f
ee
lin
g
co
n
tr
o
l sy
s
tem
2
.
1
.
1
.
Co
ntr
o
l sy
s
t
em
inp
ut
T
h
e
co
n
tr
o
l
s
y
s
tem
in
p
u
t
is
th
e
s
teer
in
g
s
ig
n
al,
d
ef
i
n
ed
b
y
a
m
at
h
em
atica
l
r
elatio
n
s
h
i
p
b
etwe
en
v
eh
icle
s
p
ee
d
(
V
)
,
s
teer
in
g
a
n
g
le
(
)
,
a
n
d
f
r
o
n
t
wh
ee
l
a
n
g
l
e
(
)
.
T
h
is
r
elatio
n
s
h
i
p
in
d
icate
s
th
at
v
eh
icle
s
p
ee
d
in
f
lu
e
n
ce
s
th
e
s
teer
in
g
r
atio
(
SR
)
b
etwe
en
th
e
s
teer
in
g
an
d
f
r
o
n
t
wh
ee
l
an
g
les
[
2
1
]
.
At
lo
w
s
p
ee
d
s
,
a
lo
wer
SR
y
ield
s
a
lar
g
er
s
teer
i
n
g
an
g
le,
en
h
an
cin
g
m
an
eu
v
e
r
ab
ilit
y
,
wh
ile
at
h
ig
h
s
p
ee
d
s
,
a
h
ig
h
er
SR
r
esu
lts
in
a
s
m
aller
s
teer
in
g
an
g
le,
th
er
eb
y
im
p
r
o
v
i
n
g
s
tab
ilit
y
.
T
h
is
s
tu
d
y
ad
o
p
ts
a
s
im
p
le,
lin
ea
r
ly
v
ar
y
in
g
SR
m
o
d
el
as a
f
u
n
ctio
n
o
f
v
e
h
icle
s
p
ee
d
[
2
2
]
ex
p
r
ess
ed
as (
1
)
a
n
d
(
2
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1496
-
1
5
0
4
1498
(
)
=
+
(
a
an
d
b
ar
e
co
n
s
tan
t
s
)
(
1
)
=
(
)
(
2
)
T
h
e
s
teer
in
g
in
p
u
t is m
ath
em
a
tically
tr
an
s
f
o
r
m
ed
i
n
to
th
r
ee
p
r
im
ar
y
t
o
r
q
u
e
co
m
p
o
n
en
ts
:
i)
I
n
er
tial to
r
q
u
e
m
o
d
el:
I
n
er
tial to
r
q
u
e
r
ep
r
esen
ts
th
e
r
esis
tan
ce
to
ch
an
g
es in
r
o
tatio
n
al
m
o
tio
n
with
in
th
e
s
y
s
tem
,
as in
(
3
)
.
=
∙
2
2
(
3
)
W
h
er
e
(
I
)
is
th
e
m
o
m
en
t
o
f
in
er
tia
an
d
an
g
u
lar
ac
ce
ler
ati
o
n
,
wh
ic
h
is
th
e
s
ec
o
n
d
d
er
i
v
ativ
e
o
f
th
e
wh
ee
l
an
g
le.
T
h
is
to
r
q
u
e
in
f
lu
en
ce
s
t
h
e
s
y
s
tem
'
s
r
esp
o
n
s
iv
en
ess
to
s
teer
in
g
in
p
u
ts
[
7
]
.
ii)
Fric
tio
n
to
r
q
u
e
m
o
d
el
Fric
tio
n
to
r
q
u
e
(
)
ar
is
es
f
r
o
m
r
esis
tiv
e
f
o
r
ce
s
b
etwe
en
th
e
ti
r
es
an
d
th
e
r
o
ad
s
u
r
f
ac
e
[
8
]
a
n
d
ca
n
b
e
ex
p
r
ess
ed
as (
4
)
.
=
∙
(
4
)
e
is
th
e
f
r
ictio
n
f
o
r
ce
,
wh
ich
d
ep
en
d
s
o
n
th
e
f
r
ictio
n
co
ef
f
icien
t
an
d
th
e
n
o
r
m
al
f
o
r
ce
,
a
n
d
ar
e
th
e
s
p
o
k
es o
f
th
e
w
h
ee
l.
Fric
tio
n
t
o
r
q
u
e
is
an
i
m
p
o
r
ta
n
t f
ac
to
r
i
n
v
eh
icle
s
tab
ilit
y
an
d
c
o
n
tr
o
l.
iii)
R
o
ad
to
r
q
u
e
m
o
d
el
R
o
a
d
t
o
r
q
u
e
(
)
r
e
f
l
e
c
ts
r
es
i
s
t
i
v
e
f
o
r
c
e
s
d
u
e
t
o
t
i
r
e
–
r
o
a
d
i
n
t
e
r
a
c
ti
o
n
[
9
]
a
n
d
i
s
a
p
p
r
o
x
i
m
a
t
e
d
b
y
(
5
)
:
=
∙
(
5
)
wh
er
e
is
a
r
ep
r
esen
tativ
e
co
n
s
tan
t
f
o
r
r
o
ad
co
n
d
itio
n
s
an
d
tire
ch
ar
ac
ter
is
tics
.
T
h
e
to
tal
t
o
r
q
u
e
ac
tin
g
o
n
th
e
s
y
s
tem
is
th
e
s
u
m
o
f
all
th
r
ee
co
m
p
o
n
e
n
ts
,
ex
p
r
ess
ed
as (
6
)
an
d
(
7
)
.
=
+
+
(
6
)
=
∙
̈
+
∙
+
∙
(
7
)
W
h
er
e:
is
th
e
later
al
f
r
ictio
n
f
o
r
ce
;
I
is
th
e
s
teer
in
g
s
y
s
tem
in
er
tia;
̈
is
th
e
an
g
u
lar
ac
ce
le
r
atio
n
o
f
th
e
wh
ee
l
̇
is
th
e
an
g
u
lar
s
p
e
ed
o
f
th
e
wh
ee
l;
is
th
e
f
r
o
n
t
wh
ee
l
an
g
le.
I
n
e
r
t
i
a
l
a
n
d
f
r
i
c
t
i
o
n
t
o
r
q
u
e
s
d
e
t
e
r
m
i
n
e
t
h
e
t
o
r
q
u
e
r
e
q
u
i
r
e
d
to
t
u
r
n
t
h
e
w
h
e
el
s
,
w
h
i
l
e
r
o
a
d
to
r
q
u
e
c
o
n
t
r
i
b
u
t
e
s
t
o
t
h
e
f
e
e
d
b
ac
k
f
e
l
t
b
y
t
h
e
d
r
i
v
e
r
.
T
h
e
t
o
t
a
l
t
o
r
q
u
e
s
e
r
v
e
s
as
t
h
e
in
p
u
t
t
o
t
h
e
F
L
C
t
o
g
e
n
e
r
a
t
e
a
r
e
a
l
is
t
i
c
r
o
a
d
f
e
el
.
2
.
1
.
2
.
Co
ntr
o
l
s
y
s
t
em
o
utput
T
h
e
m
o
t
o
r
t
o
r
q
u
e
,
as
th
e
o
u
tp
u
t
o
f
th
e
FLC,
is
d
esig
n
ed
t
o
r
ep
licate
t
h
e
n
at
u
r
al
f
ee
d
b
a
ck
to
r
q
u
e
ty
p
ically
ex
p
er
ien
ce
d
b
y
th
e
d
r
iv
er
th
r
o
u
g
h
a
m
ec
h
an
ical
l
in
k
ag
e.
T
h
e
o
b
jectiv
e
is
to
g
en
er
ate
m
o
to
r
to
r
q
u
e
th
at
em
u
lates
au
th
en
tic
r
o
a
d
f
ee
l.
A
DC
m
o
to
r
is
u
s
ed
f
o
r
t
h
is
p
u
r
p
o
s
e,
an
d
its
b
eh
a
v
io
r
is
r
ep
r
esen
ted
b
y
a
tr
an
s
f
er
f
u
n
ctio
n
d
er
iv
e
d
f
r
o
m
its
elec
tr
ical
an
d
m
ec
h
an
ical
ch
ar
ac
ter
is
tics
.
T
h
e
r
elati
o
n
s
h
ip
b
etwe
en
th
e
m
o
to
r
to
r
q
u
e
a
n
d
th
e
m
o
to
r
to
r
q
u
e
co
n
s
tan
t in
a
DC
m
o
to
r
is
s
im
p
lifie
d
[
2
3
]
as in
(
8
)
.
=
∙
(
8
)
W
h
er
e:
is
th
e
m
o
to
r
to
r
q
u
e
(
Nm
)
;
is
th
e
m
o
to
r
to
r
q
u
e
co
n
s
tan
t
(
N
m
/A)
;
is
th
e
cu
r
r
en
t
th
r
o
u
g
h
th
e
m
o
to
r
(
A)
.
2
.
2
.
F
L
C
o
ptim
iz
a
t
io
n sy
s
t
e
m
des
ig
n
MQ
PS
O
is
em
p
lo
y
ed
to
o
p
tim
ize
th
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
(
MF)
p
a
r
am
eter
s
o
f
th
e
FL
C
,
aim
in
g
to
m
in
im
ize
th
e
er
r
o
r
b
etwe
en
th
e
d
esire
d
an
d
ac
tu
al
f
ee
d
b
a
ck
to
r
q
u
e.
B
y
in
co
r
p
o
r
atin
g
q
u
an
tu
m
b
e
h
av
io
r
,
MQ
PS
O
en
h
an
ce
s
th
e
g
lo
b
al
s
ea
r
ch
ca
p
ab
ilit
y
o
f
co
n
v
e
n
tio
n
al
PS
O,
en
ab
lin
g
f
aster
co
n
v
er
g
e
n
ce
an
d
im
p
r
o
v
e
d
av
o
id
an
ce
o
f
lo
ca
l
m
in
im
a
co
m
p
ar
ed
to
PS
O
an
d
QPSO
[
2
4
]
,
[
2
5
]
.
I
n
th
is
s
tu
d
y
,
MQ
PS
O
is
u
s
ed
to
d
eter
m
in
e
th
e
o
p
tim
al
FL
C
p
ar
am
eter
s
th
r
o
u
g
h
a
lear
n
in
g
p
r
o
ce
s
s
ap
p
lied
to
a
v
eh
icle
m
o
d
el.
T
h
e
alg
o
r
ith
m
b
eg
in
s
b
y
g
en
er
ati
n
g
a
r
an
d
o
m
in
itial
p
o
p
u
latio
n
o
f
p
a
r
ticles,
r
ef
er
r
e
d
to
as
a
s
war
m
.
E
ac
h
p
ar
ticle
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Th
e
r
o
a
d
feelin
g
c
o
n
tr
o
l sys
tem
o
n
th
e
s
teer
-
by
-
w
ir
e
s
ystem
u
s
es fu
z
z
y
lo
g
ic
co
n
tr
o
l
…
(
F
a
ch
r
u
d
in
Hu
n
a
in
i
)
1499
r
ep
r
esen
ts
a
s
et
o
f
th
r
ee
co
n
tr
o
l
p
ar
am
eter
s
—
Δ
E
R
,
Δ
DE
,
an
d
Δ
OT
—
r
elate
d
to
th
e
p
o
s
itio
n
an
d
wid
th
o
f
th
e
MFs.
T
h
e
p
ar
ticles
ar
e
iter
ativ
ely
ev
alu
ated
an
d
u
p
d
ated
u
n
til
a
p
r
ed
ef
in
ed
m
ax
im
u
m
n
u
m
b
er
o
f
iter
atio
n
s
is
r
ea
ch
ed
.
T
h
r
o
u
g
h
o
u
t
th
is
p
r
o
ce
s
s
,
th
e
s
y
s
tem
m
in
im
izes
e
r
r
o
r
ch
a
n
g
es,
an
d
co
n
v
er
g
en
c
e
is
ac
h
iev
ed
wh
en
p
ar
ticles
r
ea
ch
th
eir
o
p
tim
al
p
o
s
itio
n
s
,
i
n
d
icatin
g
th
e
b
e
s
t
p
er
f
o
r
m
an
ce
o
f
th
e
co
n
tr
o
l
s
y
s
tem
[
2
5
]
.
T
h
e
o
p
tim
izatio
n
is
g
o
v
e
r
n
ed
b
y
MQ
PS
O
eq
u
atio
n
s
th
at
u
p
d
at
e
p
ar
ticle
v
elo
city
(
v
i)
,
p
o
s
iti
o
n
v
ec
to
r
(
x
i)
,
an
d
lo
ca
l a
ttra
cto
r
(
p
i)
as in
(
9
)
,
(
1
0
)
,
an
d
(
1
1
)
.
(
+
1
)
=
(
)
+
1
1
−
(
−
(
)
)
+
2
2
−
(
−
(
)
)
(
9
)
(
+
1
)
=
±
|
−
(
)
|
∗
ln
(
1
)
≈
(
0
.
1
)
(
1
0
)
=
x
+
(
1
−
)
x
(
1
1
)
W
ith
:
=
I
ter
atio
n
;
1
=
S
o
cia
l
c
o
n
s
tan
t
o
f
ac
ce
ler
atio
n
1
;
2
=
C
o
g
n
itiv
e
co
n
s
tan
t
o
f
ac
ce
ler
atio
n
2
;
1
(
t
)
=
r
an
d
o
m
n
u
m
b
er
1
;
2
(
t
)
=
r
an
d
o
m
n
u
m
b
er
2
;
(
t
)
=
L
o
ca
l
b
est
p
o
s
itio
n
;
i
(
)
=
Glo
b
al
b
est
p
o
s
itio
n
.
Op
tim
izatio
n
s
tag
es
ar
e
as f
o
llo
ws:
i)
Step
1
:
I
n
itialize
p
ar
am
eter
s
:
Op
tim
izatio
n
p
ar
am
eter
s
u
s
in
g
MQ
PS
O
[
2
6
]
is
:
th
e
n
u
m
b
er
o
f
p
ar
ticles
was
d
eter
m
in
ed
to
b
e
3
0
;
m
a
x
im
u
m
iter
atio
n
s
at
3
0
;
co
n
tr
ac
tio
n
–
ex
p
a
n
s
io
n
co
ef
f
icie
n
t
(
)
s
p
ec
if
ied
m
ax
im
u
m
1
.
0
a
n
d
m
in
im
u
m
0
.
4
; th
e
o
p
tim
ized
v
ar
ia
b
les
ar
e
Δ
i
=
(
Δ
ER
; Δ
DE
; Δ
OT
).
ii)
Step
2
:
I
n
itialize
s
war
m
/ c
u
r
r
en
t p
o
s
itio
n
:
I
n
itialize
s
war
m
/
cu
r
r
en
t
p
o
s
itio
n
r
a
n
d
o
m
l
y
(
r
a
n
d
o
m
ly
)
iii)
Step
3
:
E
v
alu
ate
p
o
p
u
latio
n
in
itializatio
n
:
E
ac
h
p
ar
ticle
is
ev
alu
ated
to
o
b
tain
t
h
e
f
itn
ess
o
f
ea
ch
p
ar
ticle
u
s
in
g
th
e
in
teg
r
al
tim
e
-
weig
h
t
ed
ab
s
o
lu
te
er
r
o
r
(
I
T
AE
)
cr
iter
io
n
[
2
7
]
.
iv
)
Step
4
:
E
v
alu
ate
t
h
e
n
ew
p
ar
ticles
:
At
th
is
s
tag
e,
ea
ch
n
e
w
p
ar
ticle
is
r
e
-
ev
alu
ated
in
ev
er
y
iter
atio
n
u
s
in
g
th
e
I
T
AE
as th
e
f
itn
ess
f
u
n
ctio
n
.
T
h
e
g
lo
b
al
b
est p
o
s
iti
o
n
is
co
n
tin
u
o
u
s
ly
u
p
d
ated
ac
r
o
s
s
iter
atio
n
s
u
n
til
th
e
m
ax
im
u
m
iter
atio
n
i
s
r
ea
ch
ed
.
I
f
th
e
g
lo
b
al
b
est
f
itn
ess
co
n
v
er
g
es,
th
e
c
o
r
r
esp
o
n
d
in
g
p
ar
ticle
p
o
s
itio
n
—
in
d
ex
ed
b
y
th
e
b
est
g
lo
b
al
f
itn
ess
—
is
co
n
s
id
er
ed
t
o
h
av
e
r
ea
ch
ed
t
h
e
o
p
tim
al
v
al
u
e
(
Δ
i)
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
So
f
twar
e
-
in
-
th
e
-
lo
o
p
s
im
u
latio
n
(
SIL
S)
is
co
n
d
u
cted
u
s
in
g
MA
T
L
AB
/
S
im
u
lin
k
,
with
test
s
ce
n
ar
io
s
in
clu
d
in
g
v
a
r
iatio
n
s
in
s
teer
in
g
in
p
u
t
(
s
in
e
wav
e
an
d
d
o
u
b
le
lan
e
ch
an
g
e
)
a
n
d
v
e
h
icle
s
p
ee
d
.
T
h
e
s
tr
u
ctu
r
e
o
f
th
e
FLC
-
MQ
PS
O
-
b
ased
r
o
ad
f
ee
lin
g
co
n
tr
o
l
s
y
s
tem
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
T
h
e
SIL
S
test
r
esu
lts
o
f
th
e
FLC
-
MQ
P
SO
o
p
tim
al
co
n
tr
o
l
s
y
s
tem
o
b
tain
ed
th
e
b
est
co
n
v
er
g
e
n
ce
,
f
itn
ess
,
th
r
ee
o
p
ti
m
al
FLC
p
ar
am
eter
v
alu
es
,
an
d
C
-
R
MS
er
r
o
r
a
r
e
MQ
PS
O
r
ea
ch
es
co
n
v
er
g
en
ce
in
th
e
6
t
h
iter
atio
n
,
f
itn
ess
f
u
n
ctio
n
:
1
3
1
1
2
e+
0
4
(
I
T
AE
)
,
an
d
t
h
e
o
p
tim
al
co
n
t
r
o
l sy
s
tem
p
er
f
o
r
m
an
ce
er
r
o
r
is
ex
p
r
ess
ed
in
a
C
-
R
MS
er
r
o
r
o
f
0
.
0
0
0
9
9
9
.
Mu
ltip
lier
f
ac
to
r
f
o
r
m
em
b
er
s
h
ip
f
u
n
ctio
n
:
-
E
r
r
o
r
(
E
R
)
=
7
.
8
0
2
9
2
8
6
8
8
6
2
6
1
1
0
-
Delta
e
r
r
o
r
(
DE
)
=
2
.
5
7
1
5
5
2
1
5
0
7
3
3
3
4
1
-
Ou
tp
u
t (
OT
)
=
5
.
2
4
1
1
5
5
9
2
9
0
1
3
6
8
6
C
o
n
v
er
g
en
ce
g
r
ap
h
o
f
t
h
e
FLC
co
n
tr
o
l
s
y
s
tem
o
p
tim
izatio
n
p
r
o
ce
s
s
u
s
in
g
MQ
PS
O
,
as
s
h
o
wn
in
Fig
u
r
e
3
.
T
h
e
test
in
p
u
t
v
ar
iab
les
co
n
s
is
t
o
f
:
s
teer
in
g
r
atio
lin
ea
r
:
(
)
=
0
.
1
+
12
;
co
n
s
tan
t
s
lip
an
g
le
(
0
.
0
5
)
;
co
ef
f
icien
t
o
f
r
o
a
d
f
r
ictio
n
(
0
.
9
)
.
Fig
u
r
e
2
.
Stru
ctu
r
e
o
f
th
e
FLC
-
MQ
PS
O
r
o
ad
f
ee
lin
g
co
n
tr
o
l
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1496
-
1
5
0
4
1500
Fig
u
r
e
3
.
C
o
n
v
er
g
e
n
ce
o
f
FL
C
-
MQ
PS
O
o
p
tim
izatio
n
3
.
1
.
T
est
pa
t
t
er
n I
T
h
e
co
n
tr
o
l
s
y
s
tem
in
p
u
t
u
s
es
a
co
n
tin
u
o
u
s
s
teer
in
g
an
g
le
i
n
th
e
f
o
r
m
o
f
a
s
in
e
wav
e
(
S
W
)
with
an
am
p
litu
d
e
o
f
4
5
°,
r
ep
r
esen
tin
g
th
e
m
ax
im
u
m
s
teer
in
g
a
n
g
le.
Veh
icle
s
p
ee
d
s
a
r
e
v
a
r
ied
at
2
5
,
5
0
,
an
d
1
0
0
k
m
/h
.
Fig
u
r
e
4
illu
s
tr
ates
th
e
s
y
s
tem
r
esp
o
n
s
e,
s
h
o
win
g
th
e
r
elatio
n
s
h
ip
b
etwe
en
t
h
e
i
n
p
u
t
s
teer
in
g
a
n
g
le
an
d
th
e
r
esu
ltin
g
wh
ee
l
a
n
g
l
e,
wh
ich
is
in
f
lu
en
ce
d
b
y
th
e
s
teer
in
g
r
atio
(
SR
)
an
d
v
eh
i
cle
s
p
ee
d
.
T
h
e
test
r
esu
lts
s
h
o
w
th
at
with
a
c
o
n
ti
n
u
o
u
s
s
in
e
wav
e
s
teer
in
g
i
n
p
u
t
o
f
4
5
°
am
p
litu
d
e
an
d
c
o
n
s
tan
t
v
eh
icle
s
p
ee
d
s
o
f
2
5
,
5
0
,
an
d
1
0
0
k
m
/h
,
th
e
s
teer
in
g
an
g
le
r
em
ain
s
u
n
c
h
an
g
ed
,
wh
ile
th
e
wh
ee
l
an
g
le
—
d
eter
m
in
ed
b
y
th
e
s
p
ee
d
-
d
ep
e
n
d
en
t
s
teer
in
g
r
atio
SR
(
V
)
=
0
.
1
V
+
1
2
—
v
ar
ies.
At
2
5
k
m
/h
,
th
e
wh
ee
l
an
g
le
r
ea
ch
es
a
m
ax
im
u
m
am
p
litu
d
e
o
f
3
.
1
0
3
4
3
1
°,
wh
ic
h
d
ec
r
ea
s
es to
2
.
0
4
5
4
4
3
° at
1
0
0
k
m
/h
,
as p
r
esen
ted
in
T
ab
le
1
.
Nex
t,
th
e
s
teer
in
g
in
p
u
t
is
co
n
v
er
ted
in
t
o
in
e
r
tial
to
r
q
u
e
a
n
d
ad
d
itio
n
al
to
r
q
u
es
—
f
r
ictio
n
t
o
r
q
u
e
an
d
r
o
ad
t
o
r
q
u
e
—
wh
ich
to
g
et
h
er
f
o
r
m
t
h
e
to
tal
to
r
q
u
e
in
p
u
t
to
th
e
FLC
-
MQ
PS
O
co
n
tr
o
l
s
y
s
tem
.
T
h
is
s
y
s
tem
th
en
p
r
o
d
u
ce
s
o
u
t
p
u
t
in
th
e
f
o
r
m
o
f
m
o
to
r
to
r
q
u
e,
s
er
v
in
g
a
s
r
o
ad
f
ee
lin
g
f
ee
d
b
ac
k
f
o
r
th
e
d
r
iv
e
r
.
T
ests
wer
e
co
n
d
u
cte
d
u
s
in
g
th
e
s
am
e
s
teer
in
g
in
p
u
t a
t th
r
ee
c
o
n
s
tan
t sp
ee
d
s
: 2
5
,
5
0
,
an
d
1
0
0
k
m
/
h
,
as sh
o
wn
in
Fig
u
r
e
5
.
Simu
latio
n
r
esu
lts
o
f
th
e
Sb
W
r
o
ad
f
ee
lin
g
to
r
q
u
e
co
n
tr
o
l
s
y
s
tem
d
em
o
n
s
tr
ate
th
at
th
e
o
u
tp
u
t
to
r
q
u
e
is
ef
f
ec
tiv
ely
r
eg
u
lated
b
y
th
e
FLC
-
MQ
PS
O
m
eth
o
d
,
ac
h
i
ev
in
g
a
C
-
R
MS
er
r
o
r
o
f
0
.
0
0
0
9
9
9
.
T
h
e
t
o
r
q
u
e
d
if
f
er
en
ce
s
b
etwe
en
in
p
u
t
a
n
d
o
u
tp
u
t
a
r
e
0
.
1
2
8
3
9
Nm
at
2
5
k
m
/h
,
0
.
1
0
6
2
2
Nm
at
5
0
k
m
/h
,
an
d
0
.
0
7
8
9
8
Nm
at
1
0
0
k
m
/
h
.
Ho
we
v
er
,
i
n
itial
o
u
tp
u
t
to
r
q
u
e
ex
h
ib
its
a
tr
an
s
ien
t
v
ib
r
atio
n
,
p
r
im
ar
ily
in
f
lu
en
ce
d
b
y
t
h
e
m
o
to
r
ch
ar
ac
ter
is
tics
m
o
d
eled
th
r
o
u
g
h
its
tr
an
s
f
er
f
u
n
ctio
n
,
as d
etai
led
in
T
ab
le
2
.
3
.
2
.
T
est
pa
t
t
er
n II
T
h
e
co
n
tr
o
l
s
y
s
tem
in
p
u
t
is
a
co
n
tin
u
o
u
s
s
teer
in
g
an
g
l
e
d
o
u
b
le
lan
e
c
h
an
g
e
(
DB
L
)
with
an
am
p
litu
d
e
o
f
4
0
°,
co
r
r
esp
o
n
d
i
n
g
to
a
m
ax
im
u
m
s
teer
in
g
an
g
le
o
f
4
0
°.
Veh
icle
s
p
ee
d
is
v
ar
ied
at
2
5
,
5
0
,
an
d
1
0
0
k
m
/h
.
Fig
u
r
e
6
illu
s
tr
ates
th
e
co
m
p
ar
is
o
n
b
etwe
en
th
e
DB
L
s
teer
in
g
in
p
u
t
an
d
th
e
r
e
s
u
ltin
g
wh
ee
l
a
n
g
le,
wh
ich
ch
a
n
g
es
ac
c
o
r
d
in
g
to
t
h
e
s
p
ee
d
-
d
ep
en
d
en
t
s
teer
in
g
r
atio
SR
(
V)
=
0
.
1
V
+
1
2
.
T
h
e
test
r
esu
lts
s
h
o
w
th
at
wh
ile
th
e
s
teer
in
g
in
p
u
t
m
ain
tain
s
a
co
n
s
tan
t
am
p
litu
d
e
o
f
4
0
°,
th
e
wh
ee
l
an
g
le
am
p
litu
d
e
d
ec
r
ea
s
es
with
in
cr
ea
s
in
g
v
eh
icle
s
p
ee
d
.
At
2
5
k
m
/h
,
th
e
wh
ee
l
an
g
le
r
e
ac
h
es
a
m
ax
im
u
m
am
p
litu
d
e
o
f
2
.
7
5
8
9
°,
wh
ich
d
ec
r
ea
s
es to
1
.
8
1
8
2
° at
1
0
0
k
m
/h
,
as su
m
m
ar
ized
in
T
ab
le
3
.
Fig
u
r
e
4
.
Steer
in
g
an
d
wh
ee
l i
n
p
u
t
-
c
o
n
tin
u
es st
ee
r
in
g
an
g
le
s
in
e
wav
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Th
e
r
o
a
d
feelin
g
c
o
n
tr
o
l sys
tem
o
n
th
e
s
teer
-
by
-
w
ir
e
s
ystem
u
s
es fu
z
z
y
lo
g
ic
co
n
tr
o
l
…
(
F
a
ch
r
u
d
in
Hu
n
a
in
i
)
1501
Fig
u
r
e
5
.
I
n
p
u
t a
n
d
o
u
tp
u
t t
o
r
q
u
e
-
c
o
n
tin
u
o
u
s
s
teer
in
g
an
g
l
e
s
in
e
wav
e
Fig
u
r
e
6
.
Steer
in
g
an
d
wh
ee
l i
n
p
u
t
-
c
o
n
tin
u
ou
s
s
teer
in
g
a
n
g
le
d
o
u
b
le
la
n
e
ch
an
g
e
T
ab
le
1
.
Steer
in
g
an
d
w
h
ee
l in
p
u
t
-
co
n
tin
u
es st
ee
r
in
g
a
n
g
le
s
in
e
wav
e
P
e
a
k
S
p
e
e
d
2
5
K
m
/
h
S
p
e
e
d
5
0
K
m
/
h
S
p
e
e
d
1
0
0
K
m/
h
S
t
e
e
r
i
n
g
A
n
g
l
e
(
°
)
W
h
e
e
l
A
n
g
l
e
(
°
)
S
t
e
e
r
i
n
g
A
n
g
l
e
(
°
)
W
h
e
e
l
A
n
g
l
e
(
°
)
S
t
e
e
r
i
n
g
A
n
g
l
e
(
°
)
W
h
e
e
l
A
n
g
l
e
(
°
)
M
a
x
4
4
.
9
9
9
7
6
3
.
1
0
3
4
3
1
4
4
.
9
9
9
7
6
2
.
6
4
7
0
4
4
4
4
.
9
9
9
7
6
2
.
0
4
5
4
4
3
M
i
n
-
4
4
.
9
9
9
9
9
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3
.
1
0
3
4
4
0
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4
4
.
9
9
9
9
9
-
2
.
6
4
7
0
5
0
-
4
4
.
9
9
9
9
9
-
2
.
0
4
5
4
5
0
T
ab
le
2
.
I
n
p
u
t a
n
d
o
u
tp
u
t t
o
r
q
u
e
-
co
n
tin
u
o
u
s
s
teer
in
g
an
g
le
s
in
e
wav
e
P
e
a
k
S
p
e
e
d
2
5
K
m
/
h
S
p
e
e
d
5
0
K
m
/
h
S
p
e
e
d
1
0
0
K
m/
h
To
r
q
u
e
i
n
p
u
t
(
N
m)
To
r
q
u
e
o
u
t
p
u
t
(
N
m)
To
r
q
u
e
i
n
p
u
t
(
N
m)
To
r
q
u
e
o
u
t
p
u
t
(
N
m)
To
r
q
u
e
i
n
p
u
t
(
N
m)
To
r
q
u
e
o
u
t
p
u
t
(
N
m)
M
a
x
3
.
1
6
9
1
1
3
3
.
2
9
7
5
0
2
.
7
0
6
6
6
9
2
.
8
1
2
8
8
9
2
.
0
9
5
6
2
3
2
.
1
7
4
6
0
7
M
i
n
-
3
.
1
6
9
3
3
3
-
3
.
2
9
7
4
9
-
2
.
7
0
6
4
9
0
-
2
.
8
1
2
8
8
0
-
2
.
0
9
5
5
1
0
-
2
.
1
7
4
6
1
0
T
ab
le
3
.
Steer
in
g
an
d
w
h
ee
l in
p
u
t
-
co
n
tin
u
o
u
s
s
teer
in
g
an
g
le
,
d
o
u
b
le
lan
e
ch
a
n
g
e
P
e
a
k
S
p
e
e
d
2
5
K
m
/
h
S
p
e
e
d
5
0
K
m
/
h
S
p
e
e
d
1
0
0
K
m/
h
S
t
e
e
r
i
n
g
a
n
g
l
e
(
°
)
W
h
e
e
l
a
n
g
l
e
(
°
)
S
t
e
e
r
i
n
g
a
n
g
l
e
(
°
)
W
h
e
e
l
a
n
g
l
e
(
°
)
S
t
e
e
r
i
n
g
a
n
g
l
e
(
°
)
W
h
e
e
l
a
n
g
l
e
(
°
)
M
a
x
40
2
.
7
5
8
6
2
1
40
2
.
3
5
2
9
4
1
40
1
.
8
1
8
1
8
2
M
i
n
-
40
-
2
.
7
5
8
6
2
0
-
40
-
2
.
3
5
2
9
4
0
-
40
-
1
.
8
1
8
1
8
0
Su
b
s
eq
u
en
tly
,
th
e
s
teer
in
g
i
n
p
u
t
is
co
n
v
er
ted
in
t
o
in
er
tial
to
r
q
u
e,
f
r
ictio
n
to
r
q
u
e,
an
d
r
o
ad
to
r
q
u
e
,
wh
ich
to
g
et
h
er
f
o
r
m
th
e
to
tal
to
r
q
u
e
in
p
u
t
t
o
th
e
FLC
-
MQ
PS
O
co
n
tr
o
l
s
y
s
tem
.
T
h
is
to
t
al
to
r
q
u
e
is
u
s
ed
to
g
en
er
ate
m
o
t
o
r
to
r
q
u
e
as
r
o
a
d
f
ee
lin
g
f
ee
d
b
ac
k
f
o
r
th
e
d
r
iv
e
r
.
T
h
e
s
y
s
tem
was
test
ed
u
s
in
g
id
en
tical
s
teer
in
g
in
p
u
ts
at
c
o
n
s
tan
t
v
e
h
icle
s
p
ee
d
s
o
f
2
5
,
5
0
,
a
n
d
1
0
0
k
m
/h
,
as
illu
s
tr
ated
in
Fig
u
r
e
7
.
T
h
e
s
im
u
latio
n
r
esu
lts
o
f
th
e
Sb
W
r
o
ad
f
ee
lin
g
t
o
r
q
u
e
co
n
tr
o
l
s
y
s
tem
d
e
m
o
n
s
tr
ate
th
at
th
e
o
u
t
p
u
t
to
r
q
u
e
ca
n
b
e
ef
f
ec
tiv
ely
co
n
t
r
o
lled
b
y
FLC
-
MQ
PS
O,
with
a
C
-
R
MS
er
r
o
r
o
f
0
.
0
0
0
9
9
9
.
T
h
e
to
r
q
u
e
d
if
f
er
e
n
ce
s
b
etwe
en
in
p
u
t
an
d
o
u
tp
u
t
ar
e
0
.
4
2
0
2
6
6
Nm
at
2
5
k
m
/h
,
0
.
4
2
0
1
4
4
Nm
at
5
0
k
m
/h
,
a
n
d
0
.
4
2
8
1
9
6
Nm
at
1
0
0
k
m
/h
.
Ho
wev
er
,
a
to
r
q
u
e
v
ib
r
atio
n
is
o
b
s
er
v
e
d
at
th
e
o
n
s
et
o
f
o
p
p
o
s
in
g
to
r
q
u
e
g
en
e
r
atio
n
b
y
th
e
m
o
to
r
,
wh
ich
is
p
r
im
ar
ily
in
f
lu
en
ce
d
b
y
m
o
t
o
r
ch
a
r
ac
ter
is
tics
r
ep
r
esen
ted
b
y
th
e
t
r
an
s
f
er
f
u
n
ctio
n
in
th
is
s
im
u
latio
n
,
as d
etailed
in
T
ab
le
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
16
,
No
.
3
,
Sep
tem
b
er
20
25
:
1496
-
1
5
0
4
1502
Fig
u
r
e
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I
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s
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N:
2088
-
8
6
9
4
Th
e
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a
d
feelin
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tr
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(
F
a
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in
Hu
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in
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)
1503
DATA AV
AI
L
AB
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L
I
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h
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d
ata
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[
FH]
,
upon
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ab
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eq
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est.
RE
F
E
R
E
NC
E
S
[
1
]
Z.
Y
a
n
g
,
G
.
Li
,
H
.
H
e
,
a
n
d
G
.
Li
,
“
S
t
u
d
y
o
n
r
o
a
d
f
e
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l
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n
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s
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m
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l
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t
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c
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a
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g
o
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i
t
h
m
f
o
r
f
o
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r
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w
h
e
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l
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n
d
e
p
e
n
d
e
n
t
d
r
i
v
e
a
n
d
st
e
e
r
i
n
g
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
,
”
i
n
2
0
1
7
C
h
i
n
e
s
e
A
u
t
o
m
a
t
i
o
n
C
o
n
g
r
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ss
(
C
AC
)
,
O
c
t
.
2
0
1
7
,
p
p
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4
8
7
2
–
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8
7
5
.
d
o
i
:
1
0
.
1
1
0
9
/
C
A
C
.
2
0
1
7
.
8
2
4
3
6
4
1
.
[
2
]
F
.
H
u
n
a
i
n
i
,
I
.
R
o
b
a
n
d
i
,
a
n
d
N
.
S
u
t
a
n
t
r
a
,
“
O
p
t
i
m
i
z
a
t
i
o
n
o
f
a
u
t
o
ma
t
i
c
st
e
e
r
i
n
g
c
o
n
t
r
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l
o
n
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v
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h
i
c
l
e
w
i
t
h
a
st
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e
r
-
by
-
w
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r
e
sy
st
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m
u
si
n
g
p
a
r
t
i
c
l
e
sw
a
r
m
o
p
t
i
mi
z
a
t
i
o
n
,
”
T
u
rk
i
sh
J
o
u
r
n
a
l
of
El
e
c
t
ri
c
a
l
E
n
g
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n
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e
r
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n
g
&
C
o
m
p
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t
e
r
S
c
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e
n
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e
s
,
v
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l
.
2
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,
p
p
.
5
4
1
–
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5
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:
1
0
.
3
9
0
6
/
e
l
k
-
1
3
0
5
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3
.
[
3
]
D
.
C
h
e
o
n
,
C
.
L
e
e
,
S
.
O
h
,
a
n
d
K
.
N
a
m
,
“
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e
scr
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t
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st
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f
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by
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w
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t
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m u
si
n
g
seri
e
s
e
l
a
s
t
i
c
a
c
t
u
a
t
o
r
,
”
i
n
2
0
1
9
I
EEE
V
e
h
i
c
l
e
Po
w
e
r
a
n
d
Pr
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p
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o
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(
VP
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)
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0
1
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–
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4
6
5
3
2
.
2
0
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9
.
8
9
5
2
4
9
0
.
[
4
]
Li
u
h
e
,
X
.
Z
e
n
g
,
a
n
d
L.
S
h
u
o
,
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f
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d
b
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h
m
f
o
r
s
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r
by
w
i
r
e
,
”
i
n
2
0
2
0
4
t
h
C
AA
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Ve
h
i
c
u
l
a
r
C
o
n
t
r
o
l
a
n
d
I
n
t
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l
l
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(
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I
)
,
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2
0
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0
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p
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1
4
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4
6
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1
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5
1
4
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0
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3
3
8
5
6
8
.
[
5
]
Y
u
Le
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-
y
a
n
a
n
d
Y
u
n
P
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g
-
l
i
,
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o
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o
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t
r
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a
u
t
o
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o
b
i
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by
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t
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m
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n
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c
t
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i
c
v
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h
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c
l
e
s
,
”
i
n
2
0
0
9
I
EEE
Ve
h
i
c
l
e
Po
w
e
r
a
n
d
Pr
o
p
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l
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o
n
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e
,
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p
.
2
0
0
9
,
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p
.
1
5
0
2
–
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5
0
5
.
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:
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1
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/
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P
P
C
.
2
0
0
9
.
5
2
8
9
5
5
2
.
[
6
]
J.
W
a
n
g
,
H
.
W
a
n
g
,
C
.
J
i
a
n
g
,
Z.
C
a
o
,
Z.
M
a
n
,
a
n
d
L.
C
h
e
n
,
“
S
t
e
e
r
i
n
g
f
e
e
l
d
e
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I
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I
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t J Po
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&
Dr
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s
t
,
Vo
l.
16
,
No
.
3
,
Sep
tem
b
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20
25
:
1496
-
1
5
0
4
1504
B
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