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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...
This paper studies the speed and yaw control problem for an underactuated unmanned surface vehicle (USV) with only two propellers. Firstly, it transforms the dynamical system of speed and yaw into a cascade nonlinear system, and the resulting cascade system can be reduced to the stabilization control problem of a surge speed and yaw subsystem. Secondly, the surge speed and yaw controller are proposed...
This paper studies higher order sliding-mode-control laws to deal with some spacecraft-attitude-tracking problems. Quasi-continuous second- and third-order sliding controllers and differentiators are applied to quaternion-based spacecraft-attitude-tracking maneuvers. A class of linear sliding manifolds is selected as a function of angular velocities and quaternion errors. The second method of Lyapunov...
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...
Vehicle longitudinal control is an essential part of advanced vehicle control systems. The paper is concerned with robust longitudinal velocity tracking of vehicles using traction control and brake control. First, a longitudinal vehicle model is introduced both for traction and braking modes. Then, for each mode, a robust velocity tracking controller is designed based on backstepping. At each step...
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