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Unlike the traditional dynamic positioning of single marine surface vessel, a local cooperative control scheme is proposed to achieve the dynamic positioning of multiple offshore vessels and rigs subject to the influence of persistent ocean disturbances through a connected communication network. Cooperative dynamic positioning controllers are developed with the aid of a dynamic surface control technique...
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...
Based on the PID control and adaptive fuzzy PID control, the paper establishes semi-active suspension model of engineering vehicle and compares vibration control and suspension performance among the semi-active suspensions, taking engineering vehicle as the study object. Through the further simulation research, from the comparative analysis performance indexes of riding comfort and handling safety,...
Because of complex operating environment and bad road conditions, how to guarantee that engineering vehicles can adapt the operating environment and run reliably, has become the hot spot attention topic of researchers and manufacturers. This paper focuses on the five freedom degrees model of engineering vehicle, and theory and structure of semi-active suspension. Based on the previous control strategies,...
Supercavitating vehicles have special characteristics from traditional underwater vehicles because of supercavitation. The motion of the vehicle tends to be unstable, and the dynamics of it is nonlinear and strongly coupled. Due to the time-varying factors, delay-dependent behavior and unmodeled dynamics of system, a simplified model is developed. For the supercavitating vehicle with the mismatched...
The vibration of engineering vehicle during operation greatly increased driver's labour intensity for the road condition is bad. Therefore, based on the PID control and adaptive fuzzy PID control, the paper establishes semi-active suspension model of engineering vehicle and compares vibration control and suspension performance among the semi-active suspensions, taking engineering vehicle as the study...
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...
Although the conventional PID controller is widely used, there has been limited success in the yaw moment control of the vehicle with obvious nonlinearities. This paper presents a controller based on self-tuning fuzzy PID to improve vehicle handling and stability simultaneously. The controller contains a conventional PID controller and fuzzy controller which could tune the parameters of PID controller...
This paper investigates integrated vehicle dynamics control through coordinating active suspension system (ASS) and electronic stability program (ESP) in order to improve the overall vehicle performance including handling, stability, and comfort. A two-layer hierarchical control architecture is proposed to integrated control of the two chassis control systems. The upper layer controller is designed...
A nonlinear control system that integrated active front steering system and vehicle dynamics control system based on a multi-body vehicle dynamic model is introduced in this paper. The multibody vehicle dynamic model based on ADAMS can accurately predict the dynamics performance of the vehicle. The control strategy consists of two control objectives (yaw velocity omega and sideslip angle beta). An...
This paper analyzes the influence factors of sub-zone combined and separated in adaptive traffic signal control system and attempts to fix quantify influence factors that act as the performance indices. Then analyzes the intersections correlation coefficient confirms the ideal state and negative state of sub-zonepsilas combined and separated. Collect VISSIM data as datum mark to compute adjacent intersectionpsilas...
It is very important for us to design an adaptive controller which could deal with larger parametric uncertainties for the post-boost vehicle. Here we design a multiple models adaptive controller according to the trait of the dynamic and kinematic models and the trait that the post-boost vehicle releases loads. By using the controller, the closed system is not only asymptotically stable, but also...
This paper presents an application of Time Delay Control to an intelligent automotive cruise control system. In this system, a vehicle is equipped with a ranging sensor which measures the distance between a preceding car and itself. The relative distance between the two vehicles is the control output [the state] of the system and the dynamics of the leading car are treated as a disturbance. The performance...
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