The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, the robust static output feedback control for Four Wheels steering (4WS) vehicle dynamics is studied via an uncertain multiple model when the road adhesion conditions. First, a nonlinear model of cornering forces based on multiple model approach is developed and used to represent nonlinear lateral dynamic of the vehicle. Next, based on the uncertain multiple model of the 4WS Vehicle...
The bottom following control problem of an underactuated autonomous underwater vehicle (AUV) was addressed in this paper. In order to deal with the parameter variations and uncertainties due to time-varying hydrodynamic damps, the RBF neural network (NN) was introduced to estimate unknown terms where an adaptive law was chosen to guarantee optimal estimation of the weight of NN. Based on the Lyapunov...
This paper shows that an active front steering control, that considers the nonlinear behaviour of the tire-road forces, can be designed by parameterizing the vehicle dynamics with respect to the measurable yaw rate and taking into account the steady state behaviour of the vehicle. In order to ensure the tracking of the yaw rate reference signal on the basis of the yaw rate tracking error, despite...
In this paper, we deal with the vehicle lateral control problem in Automated Highway Systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the problem of lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the variable structure lateral control laws are designed. From...
In this paper Adams-Bashforth approximations were employed for sampled-data modeling of a large class of vehicle dynamics in many degrees of freedom. The problem of path tracking and regulation with geometric and kinematic specifications on the reference paths was focused afterwards. An approach to model-based controller design was presented based on a Lyapunov method over an incremental functional...
Modern developments in the fields of control, sensing, and communication have made increasingly complex and dedicated underwater robot systems a reality. Used in a highly hazardous and unknown environment, the autonomy and dynamics of the robots is the key to mission success. Though the dynamics of underwater vehicle system is highly coupled and non linear in nature, decoupled control system strategy...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.