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Testing and gauging Autonomous Underwater Vehicle (AUV) missions through observations and experimental trials prove to be time consuming and costly. A system capable of verifying the AUV control models prior to practical test is needed. One of the key aspects in the presented framework is AUV modeling which mainly covers the area of AUV dynamics. Based on this designed simulation framework, custom...
The paper is concerned with a vehicle where each front wheel is equipped with a steering equipment. Aim of the paper is to analyze the behavior of the resulting driving apparatus during the steering maneuver in order to subsequently develop a suitable control system. The analysis is carried out in two stages, termed kinematic and dynamic. The kinematic analysis describes the steering maneuver when...
This paper describes a comparison of experimentally identified dynamic models for the planar motion of an unmanned surface vehicle (USV). The objective is to determine a model which is rich enough to enable effective motion planning and control, simple enough to allow straight forward parameter identification, and general enough to describe a variety of hullforms and actuator configurations. Starting...
In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control (NMPC) problem within a short sampling period. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. Here, to consider whether it is possible to avoid an...
In the case of a crane that carries its payload swinging on a cable precise control of a subsystem passively connected to a directly controllable one by elastic connection is needed. Normally the connected degree of freedom has little damping and it is apt to keep swinging accordingly. Traditionally the "input shaping technology" is applied for cranes to assist the human operator responsible...
Hydrodynamics of underwater supercavitating vehicles are characterized by coupling relationship between body and cavitation. While maneuvering, supercavitating vehicle depends on a bank-to-turn strategy for making a turn, and could not be described exactly by the kinematic model built under the condition of straight line navigation. Based on cavitation theory of unattached expansion, the paper establishes...
Crowd motion analysis, where there is interdependence amongst the constituent elements, is a relatively unexplored application area in computer vision. In this work, we propose a fast method for short-term crowd motion prediction using a sparse set of particles. We study the dynamics of a crowd motion model and linear cyclic pursuit. We show that linear cyclic pursuit naturally captures the repulsive...
In this paper, a tri-rotor aircraft is designed, which can vertically take off and land, and moreover fly forward with a high speed. Two fixed wings are added to the tri-rotor aircraft, therefore, the ability of high-speed forward flight is guaranteed. A controller is presented using back-stepping technique to achieve mode transition control of the aircraft. Finally, the theoretical result is confirmed...
This paper reports a sliding mode controlled three wheels narrow vehicle for two passengers. The whole system is a two-input two-output, eight-teen order dynamical system. In a first and simple design, a set of parameters that achieve an acceptable system performance under perturbations could be selected. Results where validated by simulation. However, the performance shown in a wide range of simulations...
The vehicle-bridge coupled equations of multiple vehicles parallel are established by combining the equations of motion of both the bridge and the vehicle using the displacement relationship and the interaction force relationship at the contact point. The equation can be solved by the Runge-Kutta method in time domain, and a MATLAB program of bridge dynamic analysis is developed to assemble the motion...
Viaducts are widely used in the modern high speed railway construction. In order to ensure the high speed train running safely, passenger's comfort and environment protecting, it is essential that the aerodynamic characteristic of the high speed train moving on the viaduct will been researched. These researches will provide some engineering reference for the high speed railway construction. The studying...
The dynamics associated with the jettisoning of the payload fairings from the parent launch vehicle is investigated. The separation dynamics of the fairings is derived using the constraint force equation (CFE) methodology. The analysis considers a spring and a hinge type separation system employed to jettison the fairings from the accelerating on-going stage. This study presents the results of determining...
Because of small volume of the mini autonomous underwater vehicle, the ability to resist the wave and the current disturbance is not ideal enough. The present motion models ignore the effect of the external disturbance, and even ignore the fin effective angle of attack. In this paper, we establish a dynamic motion model of the mini autonomous underwater vehicle which can describe the motion accurately...
The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes...
In this paper we present the integration of a linear-time-varying model-predictive-control (LTV-MPC), designed to stabilize a vehicle during sudden lane change or excessive speed-entry in curve, with a slip controller that converts the desired longitudinal tire force variation in pressure variation in the brake system. The lateral controller is designed using a three-degrees-of-freedom vehicle model...
Using vehicle dynamics, in this paper an automotive ABS control algorithms, which adaptive to the adhesive coefficient of road surface was proposed. And also an ABS experiment bench was explored. Simulation and experiment studies results show that this ABS system can control the wheel slip well and the control effect is good, it provides an effective method of ABS research.
The ocean current is a disturb force when the autonomous underwater vehicle (AUV) navigating in the sea, it can induce the position change of the dynamic positioning AUV, so it can effect the low velocity maneuvers of the torpedo-shaped long-distance AUV. The appropriate motion math model for the torpedo- shaped long-distance AUV was built and the model for AUV’s ocean current disturb force was built...
Significant research effort has been directed towards developing vehicle systems that reduce the energy consumption of an automobile and because pressure control valves are used as actuators in many control applications for automotive systems, a proper dynamic model is necessary. Starting from equations found in literature, where a single stage pressure reducing valve is modelled, in this paper, the...
Flight dynamic characteristics of scramjet-powered hypersonic air vehicles are unique and have major differences with those of a conventional aircraft. These special characteristics are due to the tightly integrated engine-airframe lifting body - an X-43 like-configuration which is the universally accepted geometry for this class of vehicles. With this configuration the propulsion system is completely...
This paper treats the practical and challenging control problem of tracking a prescribed continuous trajectory for an autonomous underwater vehicle immersed in the presence of gravity, buoyancy, hydrodynamic and other uncertain forces and moments. These uncertain forces and moments are bounded and may be difficult to model accurately, but they act persistently or over long periods of time. The trajectory...
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