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The paper proposes the design of a variable-geometry suspension system, which affects both steering by generating additional steering angle and wheel tilting by modifying the camber angle. The control system must guarantee various performances such as trajectory tracking, the reduction of the chassis roll angle and the minimization of half-track change. The control design is based on a two-step procedure...
This paper focuses on the lateral control of intelligent vehicles. The aim is to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. We present design and validation of two vehicle lateral controllers. The first controller based on higher-order sliding mode control (SMC) has been developed in [1]. The second controller is based on Immersion and...
Based on the widely used model reference adaptive control (MRAC), a new controller is proposed to tackle a class of single-input(SI) systems in the presence of matched uncertainties and input constraints. The core idea is to substitute conventional simple direct adaptive control for composite model adaptive control (CMRAC). The main control structure that results in tractable responsibility is discussed...
This paper describes the problem of multiple target tracking and localization using dynamic sensors such as Unmanned Ariel Vehicles. Often the location or path of the target is uncertain and has to be accounted along with UAV fuel costs while optimally planning the dynamic sensor trajectory. The coupled problem of optimal target state estimation and sensor path planning is computationally expensive...
Autonomous intelligent vehicles are under intensive development, especially this last decade. This paper focuses on the lateral control of intelligent vehicles, with the aim of minimizing the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral error displacement. After passivity analysis...
In this paper, we integrate a three-dimensional Macroscopic Fundamental Diagram (3D-MFD) modelling for mixed bi-modal urban traffic in a control framework for congested urban regions. The 3D-MFD relates the accumulation of cars and buses and the outflow (or circulating flow) in a traffic network with two modes of transport, cars and buses. We introduce the composition of traffic in the network as...
We propose a design for soft landing control based on control invariant sets and receding horizon control. Soft landing control, which is of interest in several applications in aerospace, transportation systems, and factory automation, aims at achieving precise positioning of a moving object to a target position, while ensuring that the maximum velocity decreases as the target is approached. The resulting...
To deal with possible uncertainties of vehicle longitudinal dynamics especially in complex road condition, a multiple model switching control system for vehicle speed is designed in this paper. Vehicle dynamics from throttle to vehicle speed is linearized about equilibria and a model set consisting of five multiplicative uncertain models is set up to cover the possible range of vehicle dynamics. Based...
This paper proposes a robust nonlinear control law based on input-to-state stability (ISS) and block backstepping for reentry vehicles. Considering the model uncertainties and external disturbances, the model of Six-Degree-of-Freedom (6DOF) Reusable Launch Vehicles (RLV) is transformed into a strict-feedback system, and the block backstepping is applied to design the control law which can make the...
This paper is towards the controller design using extreme learning machine (ELM) for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV). The basic idea is to train the data learning from previous controller and then obtain the optimal weight. In the first step, the existed the back-stepping controller with high order neural networks (HONNs) is borrowed to collect the required data...
A new information-theoretic-based evolutionary approach is proposed to solve the dynamic search path planning problem. Path planning is achieved using an open-loop model with anticipated feedback while dynamically capturing incoming new requests and real action outcomes/observations as exogenous events, to timely adjust search path plans using coevolution. The approach takes advantage of objective...
In this work, the authors consider the applications of sliding mode controllers to the longitudinal flight dynamics of the benchmark system of scaled Yak-54 Unmanned Aerial Vehicle for executing maneuvers over full flight envelope. Control of unmanned aerial vehicle involves the problem of incomplete measurements, modeling uncertainties and external disturbances. Sliding mode control provides good...
For the nonlinear coupling control problem induced by the maneuver flying with high angle of attack of the hypersonic vehicle, the dynamic inversion is used to realize the decoupling of the attack angle and bank angle dynamics. For the model uncertainty, parameter perturbation and outer disturbance, the estimation and compensation of the disturbance moments is carried out by the extended state observer...
We present a motion planning framework for autonomous on-road driving considering both the uncertainty caused by an autonomous vehicle and other traffic participants. The future motion of traffic participants is predicted using a local planner, and the uncertainty along the predicted trajectory is computed based on Gaussian propagation. For the autonomous vehicle, the uncertainty from localization...
Many applications are designed for vehicular networks, like chat, dynamic map update or touristic information. The need of services used as building blocks for these applications is then emerging: localization, map matching, data collect, and so on. When a unicast communication is required, applications rely generally on naming, localization and routing services. This approach consumes many network...
Data delivered over the internet is increasingly being used for providing dynamic and personalized user experiences. To achieve this, queries are executed over fast changing data from distributed sources. As these queries require data from multiple sources, these queries are executed at an intermediate proxy or data aggregator. Typically, users of these queries are not interested in all the data updates...
With the rapid development of electrified railways, its operation reliability is directly related to the safe operation of the power supply system. As a main equipment of the electrified railways traction power supply system, the reliability of traction transformer is directly related to the security of the entire power supply system. For traction transformer, the negative sequence current is the...
This paper presents a generic design methodology of fixed order robust H2 controller and onboard computer for Micro air Vehicles. The efficacy of the proposed method is demonstrated by designing a fixed order robust H2 stability augmentation system for longitudinal dynamics of a Micro air Vehicle, named Sarika-1. Strengthened discrete optimal projection equations, which approximate the first order...
The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater systems even more complicated. The proposed...
The vehicle model and the tire model are established through the vehicle system dynamic equation in this paper, and with the assumption that the yaw rate gain is constant, the steering model is developed via the ideal ratio for the steer-by wire (SBW) system. An adaptive sliding mode controller is designed Based on the theory of sliding mode control. The controller input is defined as the weighted...
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