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A navigation strategy for achieving quasi-optimality for autonomous underwater vehicles (AUVs) is presented. The objective of the optimal navigation is the minimum-time transit of an AUV in a flow field of sea current disturbance. Reactive optimal guidance revisions followed by tracking controls are the key features of the proposed quasi-optimal navigation strategy. In this research, a globally working...
A sliding mode controller is designed for the longitudinal dynamics of a generic hypersonic vehicle. A generic nonlinear longitudinal dynamics model for wedge-shaped vehicle is used. Based on the dynamic inverse control, the sliding mode is adopted with the reaching law that contains a linear-quadratic controller. Optimal control techniques can be applied to search the parameters of linear-quadratic...
Lateral control of autonomous vehicle is investigated. The vehicle lateral dynamics is described with the previously researched state space model in terms of position and orientation error with respect to the road, and approximated by a Tanagi-Sugeno (T-S) fuzzy model with time-varying parameters. The system is stabilized by an optimal fuzzy state feedback compensator based on the parallel distributed...
The depth control problem is described and addressed for a small autonomous underwater vehicle in this paper. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV's depth motion in vertical plane by linearizing the model at a specified operating point. An optimal integral-sliding-mode controller was designed for the AUV depth control system by constructing...
In recent years, the Department of Defense and NASA have imposed significant resources on developing advanced launch technologies. Reusable launch vehicle (RLV) program is one of such efforts to take the place of space shuttles for RLVs. Our previous research proposed a scheme of motion primitives (MPs) and neighboring optimal control (NOC) to deal with on-line failure recovery for an RLV during approach...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
In this study, a nonlinear electric power steering (EPS) system dynamic model based on road disturbance and torque sensor noise is investigated. In this paper, a new method of determining assist coefficient is proposed to obtain good driverpsilas feel, which is only relative to vehicle velocity. Evaluation indexes and an augmented system combined with the state space model of EPS are obtained. Hinfin...
By combining visual preview kinematics, dynamic equation of steering system and 2-DOF steering dynamistic model of 4WS, we establish the two degree of freedom model of four-wheel steering vehicle. And then the switching hyper plane is designed by applying the optimal control theory. During the change of parameter is little, 4WS steering performance is carried out by adopting sliding variable structure...
Significant challenges with re-entry G&C include dynamics with significant nonlinearities, states and trajectory constraints, limit on control authority, and parametric uncertainty. A designing new method based on linear matrix inequalities (LMIs) constraints is presented for the longitudinal guidance law. First, the nonlinear longitudinal dynamic equations are linearized about the nominal trajectory...
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