The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
To achieve steering angle tracking performance of a novel steering-by-wire (SbW) system, a sliding mode-based learning control (SMLC) is developed. It features that the bounds information of disturbances isn't required in advance and the chattering phenomenon will be reduced. Simulation results show that the proposed SMLC has excellent steering angle tracking performance, robust performance and energy...
This paper addresses the problem of steering an underactuated hovercraft along a desired horizontal path in the presence of dynamic uncertainties. First, based on the predefined reference path, the Line-of-Sight (LOS) guidance is built in a moving Serret-Frenet frame along the virtual target on the path. The position and orientation error dynamics are introduced by using coordinate transformation...
The technology of Bank-to-Turn is an important development direction of hypersonic glide vehicles' control. But there is a strong coupling between roll channel and yaw channel when the vehicle is in rolling maneuver. In this paper, a dual decoupling fusion control method is presented based on aileron-rudder cross decoupling control and model reference global sliding mode control for the problem of...
The motion control of autonomous underwater vehicle (AUV) system is a very challenging issue because of the high nonlinearity, strong coupling and time-varying property. A novel polynomial fuzzy model based (PFMB) output feedback controller is proposed in this paper, which enables the AUV to achieve the desired depth quickly and stably. Specifically, a polynomial fuzzy model of AUV is constructed...
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, the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle (UUV) control. Firstly, the kinematic tracking controller based on model predictive control (MPC) is applied to reach the tracking control in a kinematic way. Compared with conventional backstepping control, MPC can solve the speed jump control problem very...
Self-balancing two-wheeled robots (TWRs) have attracted significant attentions over the last decade around the world. However, the traditional controller performs worse when TWR is driven under severe traveling conditions like steep slopes, speed bumps and other uneven terrains on practical pavement, which leads to potential security issues. This paper takes uneven terrains into consideration in system...
Autonomous underwater docking recovery of UUV to a moving platform dock is presented in this paper. Suited docking strategy and control method is designed to realize accurate, safe and fast docking of UUV based on an optical terminal guidance system with two cameras and two guiding lights. The kinematics and dynamics of UUV during docking process is modeled to describe the hydrodynamic interaction...
This paper presents the stabilization of a relative equilibrium of an underactuated autonomous underwater vehicle(AUV) with three independent control inputs: moment of pitch, moment of yaw and thrust, in three-dimensional space. The dynamics of an AUV can be described by the Kirchhoff's equations which couples actuated variables and underactuated variables together and which is helpful to control...
In this paper, the trajectory tracking problem for horizontal motion of underwater vehicle with unknown environmental disturbances is solved based on the disturbance observer method. A 3-DOF nonlinear model of underwater vehicle including matched and non-matched external disturbances is developed. And then, a classical backstepping tracking controller is designed based on the established multi-input...
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...
Entry guidance of a high-lifting vehicle is a complex problem that has attracted the attention of researchers around the world for many years. This paper classifies the previous studies into two categories: trajectory planning-tracking method (TPTM) and predictor-corrector method (PCM). A new trajectory planning method based on the dynamic pressure profile of the vehicle is proposed in this paper...
A robust entry guidance law with finite time convergence is designed for drag-tracking in this paper. The bank angle is regarded as the control variable. First, a robust sliding mode control (SMC) method, which can guarantee the finite time convergence, is proposed for a class of nonlinear systems with uncertainties and disturbances. Then, after the drag dynamics is given, the finite time guidance...
For the aerospace vehicle reentry problem, a guidance approach based on analytical predictor-corrector is proposed. In this approach, the guidance is divided into two parts: longitudinal guidance and lateral guidance. In the lateral guidance, a lateral threshold based on heading error is proposed to determine the sign of bank angle. In the longitudinal guidance, analytical mathematical formulas of...
A method based on variable horizon predictive control is proposed in the paper for nominal trajectory guidance. Firstly, a feasible reference trajectory is generated by the Gauss pseudospectral method. Then, curvature is employed to represent the smoothness of obtained trajectory and predictive horizon is selected according to the curvature. Different predictive control optimal problems are established...
A novel initial descent guidance law based on the transition function is proposed for the hypersonic glide vehicle without offline nominal angle of attack (AOA) design and online iteration process. Considering the variation of the gravitational acceleration, a new transition condition between the initial descent phase and the quasi-equilibrium glide phase is deduced. Afterwards, the initial descent...
An optimal guidance law of reentry vehicle both with terminal interception and impact angle constraint is derived, and tow types of optimal guidance law expressions “Proportional Navigation + Angle Constraint (PN+AC)” and “Velocity Pursuit + Angle Constraint (VP+AC)” are given with lag-free dynamic system. Then, simulations of non-dimensional miss distance and impact angle error base on statistical...
This paper presents the design of a novel dynamic kinesthetic boundary (DKB) for haptic teleoperation of unicycle type ground mobile robots. The kinematics of unicycle type vehicles impose significant challenges for applying DKB in teleoperation of such vehicles, where the DKB was originally proposed for teleoperation of Vertical Taking-Off and Landing (VTOL) aerial robots. Modifications to DKB is...
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...
The standard output regulation theorem is utilized to construct a nonlinear flight tracking controller for a hypersonic vehicle in presence of non-minimum phase dynamic in the paper. When the elevator is chosen as the only control surface, the hypersonic vehicle model exhibits unstable hyperbolic zero-dynamics, preventing the application of standard inversion-based control technique. The standard...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.