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The possibility of increasing flight duration, particularly for small and micro fixed-wing Unmanned Aerial Systems (UAS), is typically hindered by the payload and size of the platform. In maritime missions, Atmospheric Energy Harvesting (AEH) near the Marine Atmospheric Boundary Layer (MABL), is a low-cost solution, with very promising results, that may allow drastic increases in flight duration by...
In this paper, we introduce a cognitive model inspired in a rough description of the human cognition process to provide a more efficient parallel architecture for autonomous reactions in real systems. The model is a non-hierarchical structure composed of three main parallel blocks-mind, reason, action-in a nested double closed-loop configuration for control and supervision; the mind is a practical...
The proposed hierarchical sliding mode control (HSMC) for the car-like automated guided vehicle (CLAGV) includes two parts: one is virtual control input (VCI), the other is sliding mode tracking control (SMTC) [1]. Moreover, a single software/hardware based platform develops the software for the control, image processing and trajectory planning algorithms, and the hardware for the control signal (e...
The vehicular inverted pendulum (VIP) system is one of the most important issues in dynamics and control theory, and has been widely used as a benchmark for testing control algorithms. However, the tracking control and swing-up control of the VIP system have often been investigated separately. In this paper, by combining the Zhang dynamics (ZD) method and the traditional gradient dynamics (GD) method,...
In this paper, a new perspective on the output containment control of heterogeneous linear multi-agent systems is shown. By introducing a new neighborhood error of follower agents, the output containment control problem can be formulated into a cooperative output regulation problem. A novel dynamic compensator is provided to handle the case with multiple leaders. Applying the Riccati equation approach,...
This paper proposes a distributed 3D pose synchronization law to achieve a common pose with a desired trajectory for a group of quadrotors. The dynamics of networked quadrotors is first derived, and a pose synchronization scheme is proposed. In the present controller design, linear approximation and passivation techniques are employed, which respectively enable to independently handle the yaw angle,...
This paper presents a new cascade control architecture formulation for addressing the problem of autonomous vehicle trajectory tracking under risk and comfort constraints. The integration of these constraints has been split between an inner and an outer loop. The former is made of a robust controller dedicated to stabilizing the car dynamics while the latter uses a nonlinear Model Predictive Control...
Trajectory planning using Mixed Integer Linear Programming (MILP) is a powerful approach because vehicle dynamics and other constraints can be taken into account. However, it is currently severely limited by poor scalability. This paper presents a new approach which improves the scalability regarding the amount of obstacles and the distance between the start and goal positions. While previous approaches...
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques such as Position-Based Visual Servoing (PBVS) and Image-Based Visual Servoing (IBVS) in some cases (e.g., while the multirotor is performing fast maneuvers) do not...
In this paper, we propose a revisited form of the so-called Model-Free Control (MFC). Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy that is used instead of the PID structure as done in the classical MFC form. Using...
A path optimization strategy for generating energy-aware soaring trajectories for small Unmanned Aerial Systems (sUAS) is presented. Soaring paths are generated using a point-mass dynamics model and deterministic local wind field. The dynamics model, periodic constraints, and an energy-aware cost function are combined into a nonlinear program (NLP) framework to generate energy optimal paths. A dynamics...
In this paper a path tracking control for an autonomous vehicle is developed using the H∞ technique. The lateral control problem is reformulated as the control of two variables: the lateral error and the derivative of the look-ahead error, defined as the distance between a virtual point on the vehicle longitudinal axis in front of the CoG and the reference trajectory. This approach is based on the...
This paper presents a dynamic collision avoidance controller of a connected vehicle group using Model Predictive Control (MPC). The vehicles should follow a predefined reference trajectory while simultaneously avoiding collisions on this trajectory. MPC pursues the tracking of the reference trajectory in the objective function of the optimization problem. In order to avoid collisions, MPC defines...
In this paper, a new potential field approach is proposed for trajectory planning and control in autonomous vehicles. The potential field of the surrounding environment is generated including vehicles, road boundaries and lane centers. Based on the predicted positions of the vehicles, the location of the ego vehicle and the surrounding potentials are synchronized. In addition, the potential fields...
A simple Line-Of-Sight (LOS) based trajectory tracking algorithm intended for underactuated vehicles is presented. Time parametrized trajectories in two dimensions are considered. Local exponential stability for straight trajectories and ultimate boundedness for general trajectories is shown for the guidance law error dynamics, using Lyapunov perturbation analysis. The results are verified in simulations...
This paper proposes a control scheme considering both vehicle velocity responses and trajectory tracking performance for four wheels drive (4WD) vehicles, subject to the actuator constraints, external disturbance and various physical limits. The presented hierarchical control architecture consists of the trajectory planning module based on model predictive control (MPC) technique and dynamics control...
Entry guidance of a high-lifting vehicle is a complex problem that has attracted the attention of researchers around the world for many years. This paper classifies the previous studies into two categories: trajectory planning-tracking method (TPTM) and predictor-corrector method (PCM). A new trajectory planning method based on the dynamic pressure profile of the vehicle is proposed in this paper...
A method based on variable horizon predictive control is proposed in the paper for nominal trajectory guidance. Firstly, a feasible reference trajectory is generated by the Gauss pseudospectral method. Then, curvature is employed to represent the smoothness of obtained trajectory and predictive horizon is selected according to the curvature. Different predictive control optimal problems are established...
We introduce a Deep Stochastic IOC RNN Encoder-decoder framework, DESIRE, for the task of future predictions of multiple interacting agents in dynamic scenes. DESIRE effectively predicts future locations of objects in multiple scenes by 1) accounting for the multi-modal nature of the future prediction (i.e., given the same context, future may vary), 2) foreseeing the potential future outcomes and...
In this paper, a tracking control problem for the unknown longitudinal model of hypersonic flight vehicle is investigated. One remarked advantage is that not only less adjustable parameters are used in the design but also the design is independent of the model. Based on the characteristics of the longitudinal dynamics, The hypersonic flight vehicle system is divided into two subsystems, including...
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