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Due to the problem of serious nonlinear, strong coupling, uncertain parameters existed in the process of hypersonic vehicle's flight, this paper designs a fuzzy boundary layer adaptive sliding mode controller based on tangent reaching law. Firstly, the longitudinal model is linearized exactly, and then by introducing a parameters adjusted by online fuzzy logic system as sliding boundary layer, quasi-sliding...
Cooperative guidance for multiple flight vehicles against single moving target is studied in this paper. Two finite-time consensus protocols are developed for multi-agent system with input saturation which underlay the design of cooperative guidance law. The cooperative guidance approaches are investigated to solve the many-to-one interception problem, where two novel guidance laws considering the...
Terrain-aided navigation is well known as an autonomous navigation method for aircrafts, missiles, underwater vehicles, and etc. The performance of iterative closest contour point (ICCP) algorithm is investigated in this paper deeply. The factors, including, the INS (inertial navigation system) precision, the map resolution, initial INS errors, the sonar accuracy, and the matching path length, which...
An integrated control law is presented considering a nonlinear model of generic hypersonic vehicle as a plant. Based on dynamic inverse theory, the nonlinear model is transformed into an equivalent affine system. Then a dynamic inverse controller could be designed according to the equivalent system. What's more, two fuzzy logic regulars are used to adapt control parameters on line, and the fuzzy rules...
Traffic control and guidance is very important to intelligent transportation, which is realized by precise real time traffic state forecasting. CTM (Cell Transmission Model) can describe exactly how traffic shock wave and queue form, yet off-ramp diversion coefficients are set to be time-invariant, which is not conform to the reality that is full of random events. Therefore, CTM could not practically...
This paper is concerned with the coordinated tracking of linear multi-agent systems with a dynamic leader. The input of the leader is time-varying and cannot be obtained by any follower agents. Distributed iterative learning controllers are developed based on the relative state information of neighboring agents. Lyapunov-Krasovskii functionals are used to show the stability properties of the closed-loop...
This paper is concerned with the synchronized path following problem of multiple underactuated autonomous underwater vehicles (AUVs) in the presence of uncertain dynamics and input constrains. Nonlinear path following controllers are proposed for individual AUV that yield convergence of the position tracking errors to a small neighborhood of the origin. Vehicles coordination is achieved by synchronizing...
On the basis of the establishment of articulated truck model and hydraulic steering system model, this paper establishes optimal direct yaw moment control strategy based on the main and auxiliary control variables. The main control variables are side slip angle and yaw rate of vehicle, and the auxiliary control variable is the articulated angular acceleration. The handling and stability of articulated...
The dynamics of flexible air-breathing hypersonic vehicles (FAHVs) are nonlinear non-minimum, so the internal dynamics of FAHVs is unstable. The traditional dynamic inversion method is unsuitable for the control of FAHVs. Stable inversion method proposes an efficient way for the control of nonlinear nonminimum system, so a stable inversion based sliding mode control (SMC) method is proposed for the...
For further enhancing vehicle handling stability and improving the DYC's deficiency of causing undesired longitudinal decelerations, an integrated control of the active front steering and direct yaw moment is proposed. A formulation of the bicycle model which considers the nonlinear tire characteristics is adopted. Considering several security constraints, the model predictive control method is used...
The friction coefficient identification of dry clutch is a precondition for precise model-based dry clutch control. Recursive Least Square with forgetting factors is adopted to identify the friction coefficient of dry clutch during vehicle starting-up process. Because the accuracy of the engine damp coefficient affects friction coefficient identification of the clutch, it is necessary to identify...
This paper researches the application of trajectory optimization method in trajectory design of multi-constraint boost-phase terminal. For the boost-glide vehicle, the multi-constraint parameters are deduced from the analysis of the trajectory characteristic. Considering the process constraints, the boost-phase trajectory optimization model is constructed based on the max-velocity. The optimal control...
With the wireless network and mobile Internet development, the mobile phones are rapidly developed and more popular, and so it's becoming possible to get highway traffic information by locating the mobile phones in vehicles. The system structure for the highway traffic information collection is designed based on wireless network and mobile phones in vehicles, and the vehicle recognition and its information...
This paper presents a method for solving simulation localization and mapping (SLAM) in sparse-feature environment, by adopting a concept of particle filter with multiple extended Kalman filters (EKF). Compared with common FastSLAM where each particle is a sample of one vehicle path whereas each EKF is solely a feature estimator, the proposed algorithm includes the vehicle-pose estimate in each EKF...
This paper presents a novel design of kinematics-based observer for vehicle sideslip angle estimation. A parameter-varying model is firstly obtained by regarding the measured yaw rate as a varying parameter. A yaw rate scheduled parameter-varying observer is then constructed using the measured yaw rate and accelerations, and is designed to be robust against the measurement noises. The conditions for...
Take INS transfer alignment (trans-alignment) in powered phase of launch vehicle as example, suitability of two methods is compared in the paper. One is under launched point inertial coordinate, and the other is local geographical. Differences of state vectors choice, error-propagation, measurement model and influences of attitude maneuvers in powered phases under different coordinates are surveyed...
A variable structure control law is presented according to a generic hypersonic vehicle model. First, the model is transformed into an affine system through input-output feedback linearization. Then, a structure of the control law is designed for the affine system. After the structure design of the control law, all control parameters of the control law are optimized based on a genetic algorithm. On...
This paper presents and evaluates a differential geometric model for single and double track vehicles, which allows to estimate internal state parameters (steering angles, velocities, wheel speeds, …) from a given planar trajectory over time. Possible applications include accident reconstruction from video footage, constraining trajectory optimization by physical limits, and extracting control parameters...
Regenerative braking is a major means of hybrid vehicle to improve vehicle fuel economy. To ensure the safety of brake is the basic requirement of vehicles. This article discusses that the basic principle of regenerative braking system of hydraulic hybrid bus is a compound system based on ground coupling, and introduces regenerative braking force distribution strategy through integrated control of...
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