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In this manuscript, a modular sideslip angle and road grade estimation scheme for four-wheel drive (4WD) vehicles is proposed. The longitudinal tire forces are estimated based on disturbance observer, then the lateral tire forces are computed using the estimation of longitudinal tire forces as inputs based on the dugoff tire model. In the following, the full-dimensional nonlinear observer is designed...
Multiplex networks have been used to describe multilevel system by the way of combining several layers of sub-networks with one layer representing one sub-level system. For this new network framework, research efforts have been paid on the study of its topological and dynamical properties. However, in these studies the network structures are mostly simple or specific. To systemically study multiplex...
In this paper, fractional-order calculus (FC) is applied in the sliding mode control of a generic hypersonic vehicle (GHV). In the design of the controller, dynamic inversion is applied to deal with strong couplings among pitch angle, yaw angle and roll angle. The effect of FC is evaluated in a sliding mode controller. Simulation results demonstrate that sliding mode controller becomes more robust...
This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) that has three independent inputs: surge moment, yaw moment and pitch moment in the context of Hamilton system on Lie group SE(3) while physical damping terms appear. The control law that consists of two parts is derived from reshaping kinetic energy and reassigning damping terms...
A robust adaptive terminal controller is proposed for attitude system of near space vehicle. Firstly, NSV dynamic model is presented, which includes nonlinear, uncertainty and disturbance. Secondly, an second order sliding mode disturbance observer is used to estimate the unknown disturbance. Then, in order to overcome the chattering problem in traditional sliding mode, the design process of second-order...
This paper investigates an adaptive distributed consensus tracking problem of uncertain nonlinear multi-agent systems in pure-feedback form on a directed graph. The unknown continuous nonlinear functions induced from the controller design procedure are approximated by Radial basis function neural networks (RBFNNs). Based on the distributed dynamic surface control technique, the problem of “explosion...
In this paper, the problem of adaptive tracking control for a class of linear continuous time-invariant systems subject to constrained actuators is investigated. A novel control strategy is developed to ensure the bounded tracking of the systems. Based on Lyapunov stability theory, a result that indicates the tracking bound can be reduced as small as desired via adjusting control parameters is obtained...
This paper develops a solution to the cooperative output tracking problem of a network of non-minimum phase (NMP) vehicles under a direct and time-varying communication topology. The desired trajectory is generated by a linear exo-system and accessible to partial vehicles. The solution consists of three modules: a distributed observer network (DON), a causal stable inversion (CSI), and a state trajectory...
this paper presents a disturbance rejection control methodology for the course keeping of a fully-submerged hydrofoil craft. The course keeping dynamics of the fully-submerged hydrofoil craft with parameter perturbation is firstly analyzed. Then an extended disturbance observer (EDO) is developed to make real time estimate of the disturbance as well as the model uncertainties. A nonsingular terminal...
This paper studies the trajectory tracking control problem of an underacutated hovercraft, equipping only two control inputs with three degrees of freedom. A novel bioinspired tracking control approach is proposed by intergrating backstepping technique and additive neural dynamics model. The controller is first designed from the error dynamics analysis of the hovercraft. And then three additive neural...
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