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Given paper presents practically a question statement on the possibility of unpredictable behaviour of the car. In the state space of the linearized model an untypical attractor is revealed which is similar to the Lorenz strange attractor generating an unregular trajectory behaviour. It is shown an opportunity of getting the complete conformity with the Lorenz system for which a strange attractor...
In this article, using the kinematics model of a car-like vehicle with front-wheel driving we address the path-following problem on the Cartesian plane. Adopting a dynamic inversion approach we determine initial conditions and the steering input in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises...
Using the results of the linear sub-state estimation and of the linear matrix inequality (LMI), we develop a Luenberger low — order unknown input observer/controller, which gives full unbiased state estimation and H∞ disturbance attenuation. This method is designed in a nonstandard case: an output-disturbance free system, it's based on the bounded real lemma, and the resultant design algorithms are...
This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The Vector Field(s) Orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical...
This paper presents a two independent wheel drives electric vehicle (EV), with a traction and a stability control systems. In the first part of the paper a detailed dynamic model of the EV is presented and also some simulation results. Using electric motors it is possible to have a precise torque control in each wheel drive, that enables the implementation of a sophisticated control system. In order...
A systematic approach to parameter-dependent control synthesis of a candidate High-Speed Supercavitation Vehicle (HSSV) is presented. The aim of the control design is to provide robust reference tracking properties across a large flight envelope, while directly accounting for the interaction of liquid and gas phases with the vehicle. A Linear Parameter Varying (LPV) controller is synthesized for the...
This paper addresses the problem of stabilizing and trajectory tracking control of a remotely operated vehicle (ROV-Observer) in the vertical plane. The underwater vehicle is not actuated in the pitch direction and cannot be locally asymptotically stabilized by continuous feedbacks which are functions of the state only. In the present note, exponential convergence is obtained by considering time-varying...
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system...
In the paper an idea to apply evolutionary computation method with dedicated fitness function in dynamic system simulation and positioning is presented. Dedicated evolutionary system's efficiency in simulation, optimization and positioning of examined object is discussed. Presented experiments show common duty as well as extensive, overloading and dangerous situations at work. Research results are...
Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
Ridesharing concerns people that are willing to intelligently ride in order to save money and protect environment. The idea is based on a better use of private car. More precisely, it aims to bring together individuals that share, even partially, a trip. In the recurring ridesharing problem, when an offer is matched with a demand, the driver picks-up the rider at his starting location, drops him off...
This Document shows the control LQR (Linear quadratic Regulator) PI (Proportional Integral)Vectorial design, which is developed to control the dynamic of a remote operated underwater vehicle ROV, to allow that the vehicle follow a horizontal trajectory autonomously . The results are showed through simulations of following the trajectory of ROV obtaining satisfactory results and complying with the...
This work investigates an event-based electric vehicle mass and grade estimation using a Recursive Least Squares (RSL) with variable forgetting factors method. Given the vehicle speed and electric power consumption, we proposed a two-layer identification architecture in which the first layer provides acceleration and cruise motion periods, whereas the second layer is responsible for mass and grade...
This paper deals with design and control of unmanned underwater vehicle (UUV) for nondestructive testing and inspections of submerged technologies. It covers water tanks, dams, reservoir, etc. The vehicle is designed as a neutrally buoyant rigid body with platform containing the phased array probe for weld testing. It works in two regimes — remote operational regime (6DOF) and AUV regime (3DOF). For...
The design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control...
This paper aims to present a comparison between various controllers to be used in dynamic model of a quadrotor platform. The controllers assumed in this work are conventional PID and a classic LQR controller. The PID controller is chosen for quadrotor model because of its versatility and facile implementation, while also providing a good response for the model dynamics attitudes. The LQR controller...
The automatic launch and recovery of an AUV from a USV presents a challenging control problem because control parameters are chosen based on the dynamics of the vehicle, which can change abruptly and significantly when an AUV is jettisoned or docked. Tight control of the vehicle state is required to conduct an underway recovery, with looser requirements for the launch. Experimental testing of an unmanned...
A cable dynamics module was developed and implemented in the Reynolds Averaged Navier-Stokes Equations (RANS) solver CFDShip-Iowa to model the dynamics of towed cable systems in high sea states and during the launch and recovery of tethered underwater vehicles from behind a ship. In previous cable dynamics simulations, the vehicle forces are computed using hydrodynamic coefficients which are only...
The behavior of combined vehicles is easily affected by the uncertainties of vehicle parameters. It is very difficult for the drivers to achieve good handling stability. However, if the behavior of actual combined vehicles tracks the designed ideal vehicle, the good handling property can be maintained for the large uncertain variation in the dynamics of actual combined vehicles. Based on this notion,...
An auto-landing guidance law on the basis of sliding mode control (SMC) is presented in this paper for landing an unpowered reusable launch vehicle (URLV) at the predetermined landing site. The guidance scheme, which takes the full nonlinear point-mass dynamics into account, is developed in three-dimensional space. For the sake of dealing with large initial condition errors, the guidance process is...
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