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- 저자 : Cespi (검색결과 2 건)
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Nonlinear Observer-based Active Control of Ground Vehicles with Non Negligible Roll Dynamics
Riccardo Cespi,Cuauhtemoc Acosta Lua,Bernardino Castillo-Toledo,Stefano Di Gennaro 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
In this paper we present an observer–based nonlinear controller for lateral and yaw velocity, for a vehiclein which the roll dynamics can not be neglected. The observer estimates the lateral velocity, and the roll positionand velocity. This technique is based on measurements of the longitudinal and lateral accelerations, longitudinalvelocity, yaw rate and steer angle, usually available in modern vehicles. The nonlinear observer ensures exponentialconvergence of the estimations. The test maneuvers, obtained with the full–vehicle CarSim model under differentroad adhesion conditions, have been used to check the controller performance, as well as its robustness with respectto parameter variations.
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Giulia Bonacucina,Diego Romano Perinelli,Marco Cespi,Giovanni Filippo Palmieri 한국약제학회 2019 Journal of Pharmaceutical Investigation Vol.49 No.4
Background PEGylated polylactide (PLA) and poly (lactic-co-glycolic acid) (PLGA) copolymers are biodegradable polyesters, widely employed in the last decades for the design of drug delivery systems such as polymeric hydrogels and nanocarriers (e.g. micelles and nanoparticles). The coupling with polyethylene glycol (PEG) offers some advantages with the respect to PLA and PLGA, including a higher hydrophilicity and a prolonged retention time for nanoparticulate systems, as well as the possibility of preparing thermoresponsive hydrogels. A large variety of pharmacologically active-compounds (small molecules, natural compounds or biomolecules such as proteins, peptides, oligonucleotides) has been formulated and delivered through PEGylated PLA or PLGA copolymers. Due to the high number of papers recently published about the use of these biodegradable copolymers in drug delivery, PEGylated PLA or PLGA copolymers are being still attractive. Their potential applications have been also broadened by the developing of ligand-functionalized copolymers, enabling an “active drug targeting” for nanoparticulate systems. Area covered The present review summarizes the recent advances in drug delivery systems based on PEGylated PLA or PLGA copolymers, focusing on self-assembled micelles and thermoresponsive hydrogels as well as nanoparticles. A particular consideration has been given to functionalized PEGylated PLA/PLGA nanoparticles for active drug delivery. Expert opinion Further advances in the design of PEGylated PLA/PLGA delivery systems will be beneficial for an improved drug release and targeting in the light of novel personalised therapeutic strategies.
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