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Geospatial Intelligence analysis involves the combination of multi-source information expressed in logical form (as sentences or statements), computational form (as numerical models of physics or other processes), and sensor data (as measurements from transducers). Each of these forms has its own way to describe uncertainty or error: e.g., frequency models, algorithmic truncation, floating point roundoff,...
This paper develops a multiple-model switching control based adaptive failure compensation scheme for hypersonic vehicles with some stuck actuators. The system uncertainties, caused by failures and unknown inertia parameters, are first parameterized. Then multiple adaptive dynamic estimators are designed, based on which, multiple adaptive control signals are designed using an error transformation...
A large number of testing procedures have been developed to ensure vehicle safety in common and extreme driving situations. However, these conventional testing procedures are insufficient for testing autonomous vehicles. They have to handle unexpected scenarios with the same or less risk a human driver would take. Currently, safety related systems are not adequately tested, e.g. in collision avoidance...
In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
This paper highlights the necessity of the rider weight consideration during observer's design for motorcycle dynamics estimation or control. It presents a novel approach using a linear parameter varying (LPV) model associated with the well-know Takagi-Sugeno (TS) methods to derive a robust observer regarding the rider weight uncertainty. Then the proposed solution is illustrated with an application...
Considering the Insect-like flapping-wing micro aerial vehicle, this paper has analyzed the composite of quasi-steady aerodynamics. That process has associated with the affection due to addition quality produced by wake capture. With introducing rotate circulation. This paper has calculated the lift, drag force, and pitch torque which take part on the wings' surfaces. Ignoring the wings' quality,...
This paper presents a new robust estimation of the lateral velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides...
An adaptive dynamic special global sliding mode controller which is based on proportional integral derivative (PID) sliding surface using radial basis function (RBF) neural network (NN) for a three-phase active power filter (APF) was presented in this paper. To overcome problems associated with schemes of the conventional sliding mode control, a global PID sliding manifold is introduced to realize...
A dynamic neural network (DNN)-based observer design is presented, which amalgamates an adaptive neural network-based technique with a finite-time sliding mode estimation method. The proposed observer design is motivated by practical quadrotor unmanned aerial vehicle tracking control applications, where direct sensor measurements of translational and rotational rates are not available for feedback...
In this paper, a robust trajectory tracking control for the underactuated quadrotor unmanned aerial vehicle (UAV) based on extended state observer(ESO) is proposed. In the presence of external disturbances and inner model parameter uncertainty, it guaranteed that the position and yaw angle could track the reference signal speedily and smoothly. According to the strict feedback architecture of the...
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...
The paper presents a derivation of a cascaded control system for autonomous vehicles moving in a 3D space in the task of tracking a time-parametrized desired trajectory. For a purpose of an outer-loop (kinematic-level) control design one proposes to utilize the Vector Field Orientation (VFO) methodology which has been successfully applied and extensively tested so far in the area of wheeled mobile...
This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and...
This paper proposes a novel integrated guidance and autopilot (IGA) method for hypersonic vehicles in dive phase. The third order back-stepping L1 adaptive control is implemented to deal with the uncertainties of aerodynamics coefficients, degradation of control surface efficiency and unmatched time-varying disturbances in the nonlinear flight dynamics. Furthermore, a second order actuator dynamics...
In this paper, the finite time trajectory tracking method is established for hypersonic vehicles. A new quasi-linear parameter varying model is proposed and a finite time controller is designed by the sliding mode method of output feedback. The matching conditions of disturbances and uncertainties are satisfied naturally which ensures the established control method has very excellent robustness and...
In this paper, a novel finite-time second-order sliding mode control (FTSOSMC) for trajectory tracking of underwater vehicles subject to system uncertainties and unknown disturbances, is proposed. In this control design, an second order sliding mode control framework is designed with a complete compensation of disturbance to obtain high tracking accuracy and relax the necessity of the disturbance...
The performance in any flight system depends on the feedback control scheme. Therefore, in a first stage, we apply as a basis the so-called Model Free Control (MFC) for the development of nonlinear flight control law that could be implemented without much difficulty. As second step, an in-depth discussion with respect to the control performance is highlighted. Due to the novel form that we propose,...
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...
With the transformation to smarter cities and the development of technologies, a large amount of data is collected from sensors in real-time. This paradigm provides opportunities for improving transportation systems' performance by allocating vehicles towards mobility predicted demand proactively. However, how to deal with uncertainties in demand probability distribution for improving the average...
Long-term prediction of traffic participants is crucial to enable autonomous driving on public roads. The quality of the prediction directly affects the frequency of trajectory planning. With a poor estimation of the future development, more computational effort has to be put in re-planning, and a safe vehicle state at the end of the planning horizon is not guaranteed. A holistic probabilistic prediction,...
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