"Hmong For Beginners" was written by Annie Jaisser and her co-authors (Martha Ratliff, Elizabeth Riddle, David Strecker, Lopao Vang and Lyfu Vang) from materials they developed in the 1980s when Hmong was first being introduced as a language of instruction for the Southeast Asian Studies Summer Institute (SEASSI). The book was published by the Center for Southeast Asia Studies at UC Berleley in 1995 and is now out of print. This electronic version is intended to make the materials available to those interested in the Hmong language but with limited access to print materials about the language.
This report is concerned with the modeling and control issues regarding braking in an Intelligent Transportation Systems (ITS) setting. Specifically, it addresses the issue of vehicle control in an automated highway system, brake actuation and coordinated brake and throttle switching. It first presents a hydraulic model of the brake system. A method for designing stable controllers for uncertain, mismatched nonlinear system is then described. A method to estimate the coefficient between the brake pressure at the wheel and the brake torque is presented. The next section describes a controller structure which can modulate the engine and the brake torque to perform the four basic longitudinal control actions of speed control, spacing control, platoon joining and platoon splitting.
