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Principal analysis of state dynamic model in stationary alignment was done to formulate the practical problems when the model applied to the rotation modulation mechanization. In engineering applications, initial position error which affects alignment precision is inevitable. To improve attitude precision in alignment under geographic latitude uncertainty, a new dynamic measurement model of Kalman...
In this paper, a robust sliding mode control is used to control an autonomous underwater vehicle. The modeling of the autonomous underwater vehicle with structure uncertainties is conducted. Sliding mode control (SMC) has robustness property in the environmental disturbances and uncertain parameters. The asymptotic tracking performance can be verified by the Lyapunov stability. The proposed control...
This paper deals with selective attention for the detection and tracking of road-networks for autonomous driving while utilizing a limited field of view sensor mounted on a fast camera platform with limited dynamics. While a previous paper derived an uncertainty cost function to determine where to look when, this paper introduces dynamic sensor constraints and examines the trade-off between a wish...
An urban operation of unmanned aerial vehicles (UAVs) demands a high level of autonomy for tasks presented in a cluttered environment. While fixed-wing UAVs have been well suited for long-endurance missions at a high altitude, their navigation inside an urban area brings more challenges in motion planning and control. The inability to hover and low agility in motion cause more difficulties on planning...
This study deals a robust approach to improve vehicle handling manoeuvres and path tracking performance for front steering system of Sport Utility Vehicles (SUVs). The approach used the dynamic sliding mode control based on an integral sliding surface to enhance the robustness of the proposed controller and vehicle handling performance. In this paper, the controller is designed to be insensitive and...
The magnitude of hinge moment is a prominent problem for rapid dive maneuver of hypersonic glide vehicles. A robust optimal integrated guidance law considering constraints of hinge moment and terminal impact angle is proposed with excellent performance. Based on the analogy relationship of hinge moment and normal aerodynamic load, the constraint of hinge moment is transformed to normal load constraint;...
In this paper it is presented a control strategy to solve the trajectory tracking and flight formation problem, in horizontal plane, of multiple unmanned aerial vehicles (UAVs) kind quadrotor, by means of a leader-follower scheme. Time scale separation of the translational and rotational quadrotor dynamics is used to achieve trajectory tracking. A sliding mode controller is proposed for the translational...
We present an adaptive backstepping controller for the position trajectory tracking of a quadrotor. The tracking controller is based on the L1 adaptive control approach and uses a typical nonlinear quadrotor model. We slightly modify the L1 adaptive control design for linear systems to comply with the time-varying nonlinear error dynamics that arise from the backstepping design. Our approach yields...
This paper investigates the problem of fault detection and isolation (FDI) for vehicle lateral dynamics. The system under consideration is a Linear Parameter Varying (LPV) model, where the scheduling parameter is related to the vehicle speed. The heart of the proposed approach relies in synthesizing robust residuals for some specified working speed. The robustness guaranties the validity between each...
The insect visuomotor system combines a lightweight and high bandwidth sensor with fast processing algorithms for efficient information extraction that enables autonomous navigation in complex, obstacle laden environments. In this paper, an H∞ loop shaping controller synthesis framework is introduced to analyze an information extraction approach from patterns of optic flow based on analogs of wide...
In this paper, we present a cooperative control architecture for high-order multivehicle systems having non-identical nonlinear uncertain dynamics. For each vehicle, the proposed methodology consists of a local cooperative controller and a vehicle-level controller. The former controller receives the relative output measurements of the neighboring vehicles in order to solve a containment problem formulated...
This paper addresses the problem of planning a policy in large environments where the actions of a robot affect the distribution of uncertainty in the environment. We focus on the problem of robot navigation through interactive crowds and present an anytime receding horizon technique that uses AO* together with small look-up table solutions. We demonstrate the feasibility of this technique in simulations...
Automated emergency maneuvering systems can avoid or reduce the severity of collisions by taking control of a vehicle away from the driver during high-risk situations. To do so, these systems must be capable of making certain decisions: there is the choice of when to interfere in the driver's control, which is made challenging in the presence of dynamic obstacles and uncertain information (such as...
This paper presents the flight path angle tracking control of the longitudinal dynamics of a generic hypersonic flight vehicle(HFV). Due to the use of digital computers and microprocessors for controls applications, the discrete hypersonic flight control is investigated. The altitude command is transformed into the flight path angle information. The back-stepping scheme is applied for the attitude...
In this paper, the adaptive fuzzy sliding mode control is applied to the hypersonic vehicle. The detailed design procedure of the fuzzy sliding mode control system is presented. The adaptive fuzzy control is utilized to approach the uncertain functions of the hypersonic vehicle and the adaptive law is derived. According to the tracking errors, weighted parameters of the fuzzy system are adjusted on-line...
The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, an active disturbance rejection control(ADRC) method is proposed. we design an extended...
Considering the impact of parametric uncertainties on Hypersonic Vehicle steady tracking control, a control approach based on integral sliding mode was proposed. First of all, linearized model of the Hypersonic Vehicle's longitudinal dynamics with uncertainties was obtained based on small disturbance linearization method with chosen trim point. Then, an integral sliding mode surface that guaranteed...
A dynamic inversion controller (DIC) is designed firstly to track control commands of 100-ft/s step velocity and 2000-ft step altitude for an air-breathing hypersonic vehicle in this paper. On the basis of first step, the influence of different disturbances and parametric uncertainties is analyzed on velocity response and altitude response, so the main disturbances are found. Then a non-linear disturbance...
We present a multiscale adaptive search algorithm for efficiently searching an unknown number of stationary targets using a team of multiple mobile sensors. We first derive a Spectral Multiscale Coverage (SMC) control law for a Dubins vehicle model. Given a search prior, the SMC control leads to uniform coverage dynamics for the mobile sensors such that the amount of time spent observing a region...
A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is used, allowing implementation of a linear...
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