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In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system consisting of an unmanned surface vehicle (USV), an umbilical cable (UC), and an autonomous underwater vehicle (ROV). The ROV, which is towed by a UC for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics...
In this study, virtual planar-motion-mechanism (PMM) tests in pure sway motion at constant forward speed are carried out to determine the sway added mass values of a 6:1 prolate spheroid. Added mass values are obtained by solving the Euler equations and the Reynolds Averaged Navier-Stokes (RANS) equations across a range of frequencies and depths. The effect that distance from the surface and radiation...
In order to solve the curved-path path following problem for underactuated autonomous underwater vehicle (AUV) in the presence of ocean currents, this paper proposes a modified Line-of-Sight (LOS) path following control strategy. The guidance law is derived based on a new path-following error kinematic model with relative velocities of the vehicle in the Serret-Frenet frame, which makes the AUV produce...
Biodynamic feedthrough (BDFT) refers to the feedthrough of vehicle accelerations through the human body, leading to involuntary control device inputs. BDFT impairs control performance in a large range of vehicles under various circumstances. Research shows that BDFT strongly depends on adaptations in the neuromuscular admittance dynamics of the human body. This paper proposes a model-based approach...
Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
Sea-crossing bridges are exposed to great waves. The wave induced dynamic effect on the structural response of the pier was carefully studied in this paper. The pier of Pingtan Strait railway bridge was taken as the example structure. The modal and dynamic response of the example pier under regular wave loadings were carried out using finite element software USFOS. The dynamic and static response...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
In this paper we present the modeling and simulation of multi-rotors using Spatial Operator Algebra. We develop two dynamic models one where the speeds are in the inertial frame and another where the speeds are vehicle frame. In both the reference point is the center of mass, but the method applies to any point of the vehicle. Besides gravity, the external forces considered include the effect of the...
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
This paper deals with the automated design of a Virtual Sensor used to estimate the vehicle planar motion states and the axle lateral forces. It is proposed to substitute the cumbersome and non-trivial manual task of tuning an Extended Kalman Filter by using meta-heuristic optimization, and in particular, employing the contrast-based Fruit Fly Optimization Algorithm (c-FOA). c-FOA is a recently developed...
The paper presents an overview of various steps required for solving the problem of designing electric drives for traction applications. The design problem is solved as an optimization problem with multiple objectives subject to various constraints governed by physical characteristics and limitations of materials and specific parts used for the assembly of electric motors and power converters, international...
In this paper a novel formation control frame-work is presented for unmanned autonomous ground vehicles based on analytical mechanics and multibody interpretation. The coordinated motion is achieved by introducing holonomic constraint functions that describe the interaction between the vehicles. These functions are interpreted as constraint forces and the decentralized control law is determined for...
Direct torque control using space vector modulation (DTC-SVM) is one of the most popular control methods of induction motor for electric vehicle (eV). This paper proposes DTC-SVM with improved deadbeat control. During uphill and downhill, instant torque changes is problem for drivers. The principle of the developed method is a solution to overcome the torque need on unexpected road conditions. In...
Considering the Insect-like flapping-wing micro aerial vehicle, this paper has analyzed the composite of quasi-steady aerodynamics. That process has associated with the affection due to addition quality produced by wake capture. With introducing rotate circulation. This paper has calculated the lift, drag force, and pitch torque which take part on the wings' surfaces. Ignoring the wings' quality,...
This paper presents a cooperative shared control driver assistance system which supports the driver in the longitudinal vehicle control. The system architecture design enables the driver and the assistance system to apply a force on the accelerator pedal. Therefore, a cooperative control algorithm has to be developed. This design problem can be described mathematically as a differential game. For...
In this work a system for the estimation of the forces (both longitudinal and lateral) exerted between the tires and the road is presented. Starting from two of the most commonly used descriptions of the vehicle dynamics, the single-corner and the single-track models, a system composed of Sub-Optimal Second Order Sliding Mode observers in a cascade structure plus an adaptive element is developed and...
In this paper, we formulate the unmanned aerial vehicle path planning problem as a multi-objective mixed integer programming problem. We minimize the fuel and time consumption at the same time. The elastic constraint method for multi-objective optimization is used to solve the problem. Experiment results show the trade off information between the two objectives, and the effectiveness of our proposed...
This paper proposes a distributed hierarchical control strategy for cooperative braking control of connected vehicle platoon with a focus on the car-following interactions between vehicles. To this end, a hierarchical control framework including the leader layer and follower layer is first proposed to illustrate the cooperative mechanism. Then, a distributed hierarchical control strategy is designed...
A nonlinear reduced-order vehicle velocity observer based on vehicle dynamics is proposed. Firstly, the longitudinal force of the tire is obtained by cascade tire-force estimation method based on the sliding mode observer, and the results are verified. Then, based on the simplified three-degree-of-freedom vehicle model, a nonlinear reduced-order observer with yaw rate as the correction term is designed...
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