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This paper investigates the path following problem for four-wheel independently actuated (FWIA) autonomous vehicles (AVs). A novel output constraint controller is proposed to deal with the lateral offset control in path following and maintain the vehicle lateral stability in the presence of tire sliding effects. The innovation of this work includes the following two aspects: (1) A novel output constraint...
A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven...
This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics...
In this paper, we deal with the stability and tracking control problem of quadrotor unmanned aerial vehicle (UAV) in the presence of the modeling error and disturbance uncertainty. The flight tracking control system combines classical proportional-derivative (PD) like term with robust and adaptive control term. Lyapunov method is used to design and show the asymptotic behavior of the linear and angular...
This paper presents an intention-aware online planning approach for autonomous driving amid many pedestrians. To drive near pedestrians safely, efficiently, and smoothly, autonomous vehicles must estimate unknown pedestrian intentions and hedge against the uncertainty in intention estimates in order to choose actions that are effective and robust. A key feature of our approach is to use the partially...
In this paper, we present a hardware in the loop simulation of our proposed multi-surface sliding control (MSSC) for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). Using MSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances...
Deep inside the ocean, the earth magnetic signal is one of the merely existing information that tells the heading of robots with very good cost efficiency. Therefore, this paper focuses on the AUV (Autonomous Underwater Vehicle) heading control problem using only one magnetic compass as feedback sensor. In this application, we address AUV modeling and control issues simultaneously. Because of quadratic...
This paper addresses the challenge of dynamically adapting the location of the nodes in an acoustic network to optimise the localisation performance of Autonomous Underwater Vehicles (AUVs) operating in the area. A dynamic placement algorithm is presented to minimise the Cramer-Rao Lower Bound associated to the connected subset of network nodes. Algorithm performance is shown in simulation and as...
An adaptive dynamic surface control algorithm is proposed for longitudinal attitude of the hypersonic vehicle in the presence of angle of attack constraints. The angle of attack constraints are firstly converted into the tracking error constraints, and then a weighted performance function and an error transformation technique are introduced, which guarantee a prescribed performance of tracking error...
Real-world autonomous driving in city traffic must cope with dynamic environments including other agents with uncertain intentions. This poses a challenging decision-making problem, e.g., deciding when to perform a passing maneuver or how to safely merge into traffic. Previous work in the literature has typically approached the problem using ad-hoc solutions that do not consider the possible future...
This paper deals with the identification of the physical parameters of a passenger car. After studying the local structural identifiability of two models of different complexity, the identifiable parameters which are unknown or difficult to measure are identified by minimising a multivariable, cost criterion in terms of maximum likelihood. The choice of the optimisation algorithm is considered, before...
This paper focuses on a path-following problem for a suitable class of Chaplygin-like non linear uncertain systems. A feedforward/feedback strategy is proposed where the feedforward action is based on an exact dynamic inversion of the nominal system and the feedback correction depends on the error of the actual output with respect to the path to be followed. A convergence analysis of the resulting...
This paper presents an active steering strategies for a railway vehicle to improve performances on curves. By feeding forward a desired angle of attach and the radius of curves, a feedforward control law is proposed and verified. In order to assess its performance issue, parameter variations such as creep coefficients and nonlinearities of the wheel conicity are considered. The simulation results...
An ongoing trend in product development is to extend traditional products with appropriate services. This concept of Product-Service Systems (PSS) rises attractive opportunities for customers and companies. Based on literature an introduction into PSS development is given. PSS modeling and the dynamic behavior of PSS are discussed. Three suitable modeling methods are identified: Agent-Based Modeling...
Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of...
This paper proposes a robust attitude tracking control scheme for hexarotor micro aerial vehicles (MAVs) under the effects of uncertainties (equivalent disturbances) which consist of external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. The proposed scheme is easy to be implemented compared to other robust controller techniques since it consists of a nominal controller...
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system...
A hybrid adaptive-optimal control architecture is presented, which is suitable for implementation on systems with fast, nonlinear and uncertain dynamics subject to constraints. Approximate dynamic inversion transforms the nonlinear system into an equivalent linear form. A linear error controller allows a designer chosen reference model to be tracked by the inverted plant. Model Reference Adaptive...
This paper proposes a novel method on dynamic trajectory planning for intelligent vehicle driving under traffic environment with uncertainties. The statistical characteristics of traffic vehicle motion are first analyzed with a traffic vehicle model, in which the inputs are considered to be random variables with certain probability distribution. Therefore the output of the model can be calculated...
Assessment and analysis of the intersection status can help to make the right choice of interventions, it's can bring convenience to solve the traffic congestion. In this paper, interval type-2 fuzzy sets is applied in the analysis of the intersection state and congestion intervention, dynamic fuzzy comprehensive evaluation and footprint of uncertainty are used to assess the intersection condition...
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