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To solve the problem of optimal path planning of two-wheeled mobile robots (TWMRs) in the presence of dynamic obstacles, a symplectic pseudospectral method for solving nonlinear optimal control problems with inequality constraints is developed. The proposed algorithm transforms the original nonlinear optimal problem into a series of linear-quadratic optimal control problems (LQOCPs) by using quasilinearization...
In order to solve the problem of trajectory optimization of Space Maneuver Vehicle (SMV), a dynamic neural network method is introduced. Combined with neural network and Pontryagin's maximum principle, the method is able to approximate the optimal solution by neural network. At the same time, with the dynamic process, the problem of guessing covariates' initial value in traditional indirect method...
In the Underwater Transportation processing, the fixed set-point control of a dynamic positioning system enables an unmanned underwater vehicle (UUV) automatically to move to a set position by means of a control system, as well as to maintain its precision when deviating from that set position. In response, this paper aims to improve its generalization ability by indirectly pruning the structure of...
In real-world applications, a majority of optimization problems belong to dynamic optimization, which involves optimization over time and whose underlying space is infinite-dimensional. In this paper, a novel dynamic optimization technique based on state transition algorithm (STA) is investigated to solve dynamic optimization problems (DOPs). Firstly, an infinite dynamic optimization problem is converted...
In this paper, a novel guidance-control scheme is presented for the unmanned surface vessel (USV) trajectory tracking. First, the guidance system is designed to give the reference speed and heading for the control system. Based on the SFLOS algorithm, the guidance system can track the desired curve in high precision. Then, control system is proposed based on backstepping technique and bio-inspired...
The recent development on micro aerial vehicles (MAV), especially the unmanned quadrotor proposes increased requirements on reference generation. This paper proposed a dynamically feasible, state constrained and smooth trajectory generation method using B-spline. The reference can be shown to satisfy the dynamics of the quadrotor and accurate tracking performance is guaranteed. The algorithm can be...
In recent years, the system parameter identification attracts attention of scholars and engineers, as the system control precision can be improved with it. In this paper, we take advantage of Hopfield neural network to identify the system parameters. Firstly, a kind of self balancing vehicle dynamic model is proposed. Secondly, the subsystem of the self balancing vehicle is analyzed in the form of...
This paper addresses the formation keeping of a network of Port-Controlled Hamiltonian(PCH) AUV multi-agent systems. The objective is solved by interconnecting agents with virtual couplings based on the internal principle, which can look into the energy consumption. Firstly, the controller for tracking estimated velocity is designed by ultilizing Hamiltonian theory. We assume that the desired velocity...
This paper proposes a distributed controller to optimize a sum of state-dependent vector objective functions for multi-Autonomous Underwater Vehicle (AUV) systems. In particular, each AUV has a local private objective and can only interact with its neighboring AUVs, which are described by undirected graphs, to measure relative states. Using 6 degree of freedom (DOF) AUV equations of motions, we design...
This paper investigates the problem of formation control for multi-agent systems with general linear dynamics and input saturation. The time-varying formation tracking this paper deal with is required to be piecewise differentiable. Firstly, a time-varying formation control protocol is presented. Then an algorithm consisting of 3 steps to design the formation control protocol is proposed. As follows,...
This paper contributes to addressing the rendezvous problem of multi-robot systems. A dynamic distributed controller that adopts the multi-sensor information fusion is designed for the position control of robots. It is shown that if the communication digraph has a spanning tree, then the positions of all robots reach rendezvous. Moreover, two algorithms are proposed by applying the dynamic distributed...
In consideration of the uncertain and time-varying driving resistance in vehicle dynamics, a distributed adaptive sliding model control protocol is proposed in vehicle platoon control. Firstly, the vehicle resistance, which is relevant to vehicle mass, weather conditions, deadweight, motorcycle type and etc, is analyzed and the vehicle platoon model is established. Then, a coupled sliding mode surface...
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