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The systems and the software in the domain of industrial trucks are becoming increasingly complex due to the rapidly increasing demand for more functionality. This leads to an even faster rising effort for manual verification activities. Therefore, automated testing techniques need to be introduced into the verification process.In this work, a search-based test generation technique has been adapted...
In this paper a novel formation control frame-work is presented for unmanned autonomous ground vehicles based on analytical mechanics and multibody interpretation. The coordinated motion is achieved by introducing holonomic constraint functions that describe the interaction between the vehicles. These functions are interpreted as constraint forces and the decentralized control law is determined for...
In this paper, present a vehicle actuator response using a hybrid control and make the vehicle has electronic stability program. Electronic Stability Program (ESP) is an automatic stability control systems on vehicles. Where the system works to avoid understeer and oversteer conditions when the vehicle is turning. Understeer is a condition where the vehicle more difficult to turn, this is because...
This paper proposes a model predictive control (MPC) for autonomous vehicle path following control. To solve the control problem, a nonlinear path following model is used, which includes 2 degree-of-freedom single track vehicle dynamics model and path following error model. The control problem is to control vehicle to run on the reference path with the heading angle along the road orientation angle...
The longitudinal control of an autonomous vehicle usually suffers from lateral interruptions, such as the cutting in/out of the lead vehicle, deteriorating its performance and even endangering driving safety. To address this problem, we present a model predictive-based approach for longitudinal control in autonomous driving by taking the lateral interruptions into account. First, a virtual lead vehicle...
The article provides analysis of the algorithmic support goniometric control systems based on the accelerometers. Disadvantages of the mathematical equations of this class of systems are considered. Application of the accelerometer measurements in conjunction with phase-measurement principle of signal forming is described together with the technique of accelerometers automatic positioning at a goniometric...
This paper presents a strategy for the control of an unmanned quadrotor with a swinging payload. A mathematical model of a quadrotor without a swinging payload is presented, along with a successive loop closure control strategy that utilises acceleration-based inner loops and velocity and position based outer loops. Thereafter, the system is augmented with the dynamics of a swinging load, and the...
Aerial manipulation systems become very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging due to its high nonlinearities, couplings, and external disturbances. In this paper, a Disturbance Observer (DOb)-based linearization of a quadrotor manipulation system is utilized. The DOb estimates the disturbances and nonlinearities,...
In this work we investigate the model of charged inverted pendulum together with the problem of control for such a system. The control is based on the state-feedback principles. The considered system opens a new way for control of unstable systems using the external physical fields (in particular, electric field). We have also present the way for adaptive control of the system under consideration...
In this paper we describe in some generality a notion we are referring to as directed guidance and show how this approach applies to simple mechanical control systems. The basic idea is to develop a reference behavior for the mechanical system's velocity suitable for guiding it and then to use the control authority available to the system to regulate the reference. This approach breaks the guidance...
For complex system design, it can be very useful to use abstracted models to verify functionality, thereby reducing the number of potential bugs in the implementation phase. In this respect, model checking is a powerful technique for automatically determining whether a design (model) satisfies desired properties. Upon positive results, the design can then be implemented with limited risks of malfunction...
This paper concerns the formation control for multi-agent system. Considering the differences between the simulation and the practical situation and to improve the performance of multi-agent, a new method is proposed based on an original controller for multi-agent. In this method, the discrete-time model of agent is present and the velocity of agent is introduced. In the explication of the method,...
This paper presents a methodology to design the flatness-based controller (FBC) for a nonlinear half-car hydraulic active suspension system. Vehicle dynamics is provided by using handling the trade-off of the ride comfort and safety. For this purpose, considered output variables are vertical acceleration and displacement of the car and vertical displacements of front and rear wheel. The main objective...
Traffic dependent speed limits have improved the security of highway traffic considerably. However, on highway sections controlled by variable speed limits large oscillations in speed can still be observed. On the basis of traffic data and a macroscopic traffic model, the influence of decentrally controlled speed limits on the states of highway traffic is analyzed. It is shown that local control of...
This study proposes a vehicle-following control system for personal electric vehicles (EV). Recently, projects aimed at using personal vehicles to solve vehicle transportation problems associated with overcrowding in cities and depopulation in mountain villages have been under way in several regions in Japan. This study was conducted to contribute to improving mobility in depopulated regions by applying...
Contact scanning scanners system can check deterioration of structure and inside matter during the production process. However, in case of high-speed scanning, oscillation occurs in the sensor part due to unevenness and friction on the measured surface. To overcome the problem, we have proposed an oscillation control scheme for scanning scanners system. In this paper, to show usefulness of the proposed...
In this paper, the Small Unmanned Aerial Vehicles (SUAVs)' navigation, attitude and velocity control are integrated into a simple, unified Hierarchy-Structured Incremental Dynamic Inversion (HSIDI) control system. Firstly, based on singular perturbation theory, all the variables of the SUAVs' dynamics are divided into four groups according to time-scale, and four Dynamic Inversion (DI) subsystems...
Considering model uncertainties and pneumatic disturbances in the complex flight environment during the aircraft terminal guidance process, a guidance law with angle constraint is introduced based on the Active Disturbance Rejection Control (ADRC). The un-modeled dynamics, unknown acceleration information and unpredictable disturbances are lumped together and considered as the total disturbance in...
Based on the analysis of relative orbit dynamics for GEO (geostationary orbit, GEO) satellite and LQG (Linear Quadratic Gaussian, LQG) algorithm, this paper proposed a station-keeping control method for GEO satellite, which realized north-south station-keeping and west-east station-keeping simultaneously. To further verify the effectiveness of the proposed method, corresponding mathematical simulation...
The problem of balancing an inverted pendulum on an unmanned aerial vehicle (UAV) has been achieved using linear and nonlinear control approaches. However, to the best of our knowledge, this problem has not been solved using learning methods. On the other hand, the classical inverted pendulum is a common benchmark problem to evaluate learning techniques. In this paper we demonstrate a novel solution...
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