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Traditional active safety systems in automotive industry use the vehicle current state and additional optional measurements to plan their intervention. In general, the computation of the most convenient action to undertake in order to guarantee a safe driving is performed without any reference to what the optimal maneuver, predicted on the basis of the vehicle current state and future road geometry/conditions,...
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...
Electronic control system has become increasingly popular in automotive applications in recent years, resulting in significant improvement on the vehicle performance. Chassis systems were made progress more stabile and higher dynamic performance by braking control, steering control and suspension control. Especially, ESC (electronic stability control) as an active safety technology assists the driver...
This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a realistic vehicle model. The analysis results suggested the use of a well-known time-optimal path...
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...
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