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In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
Safety Performance of tank truck transportation attracts more and more attentions as a result of the rapid growth of industrial requirements for energy sources and chemical productions. Researches focusing on working states of vehicles serve as a basis of improving transportation safety. This paper chose a representative type of oil tank trucks as the research-prototype, built a full vehicle model...
In order to get safety and stability braking for a high running vehicle in cornering course, a safety control scheme which combines ABS, AFS and DYC is studied in the paper. The control method is developed based on the vehicle system dynamics and control theories. From the simulation researches based on MATLAB/SIMULINK, the control method developed here can make the vehicle having a good braking stability...
In this paper, the optimal control problem to achieve lunar module soft landing with least fuel consumption is considered. The precise three dimensional dynamics is employed to describe the motion of the lunar module. By introducing two new state equations, a closed loop optimal control law is designed with a parameter matrix K to be determined which is the solution of a riccati like differential...
Rapid attitude control for large-angle multiaxis acquisition and tracking of a time-varying attitude instruction of a lunar probe during descending phase is investigated using reaction jets. The attitude kinematics and dynamics are both described by error quaternions. Based on the error quaternion model an acquisition controller is designed. The controller consists of two parts. The first part is...
For two degree of freedom of vehicle suspension model, a novel adaptive controller is presented. In order to compare and analyse, acceleration mean square root of vehicle's vibration is adopted as evaluation index for the riding comfort. In addition to considering the handing safety of vehicle, wheel dynamic load and suspension dynamic deflection are also used to contrast research. The simulation...
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