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Using an experimental approach, this paper proposes a semi-autonomous agent architecture for a remotely operated vehicle (ROV). The system is inspired by Behavior- and Reactive-based architectures using stimulus response blocks to segment behavior. The capability and limitations of the system is demonstrated through a field experiment, where the goal is to approach and localize a structure of interest...
This article presents an approach for flexible loads control in power systems with integration of electric vehicles (EV) and distributed generation for power system regulation. A control system with monitoring and control capabilities is proposed as a possible solution of the main problematic issues related to EV charging. IEC61850 standard is covered for data transfer between local and global monitoring...
In this paper, we study a formation control scheme that achieves a tight formation in a 1D platoon. The scheme achieves constant inter-vehicle spacings (with no transient) for almost every vehicle pair whenever there are no disturbances. We build up from the basic leader following approach with a modification in the weight selection. In particular, each member tracks the movement of its immediate...
In recent years, the control technique interconnection and damping assignment-passivity based control (IDA-PBC) has been a very important topic of research, this is because of the energetic interpretation that it gives to the problem of controlling systems with Port-Hamiltonian structure. This paper addresses the problem of finding suitable interconnection and damping matrices based on the bond graph...
This paper considers the design and implementation of a discrete-time fast tracking controller for quadrotor vehicles subject to perturbations. The proposed controller consists of a model-based disturbance observer and a Composite Nonlinear Feedback (CNF) controller. The CNF control law introduces nonlinear damping to the system so that it possesses a fast rise time without overshoot. The least square...
Near Space Hypersonic Vehicle (NSHV) could play significant roles in both military and civilian applications. It may cause huge losses of both personnel and property when a fatal fault occurs. It is therefore paramount to conduct fault-tolerant research for NSHV and avoid some catastrophic events. Toward this end, this paper presents a novel fault-tolerant control strategy by using the LSSVM (Least...
An approach for fault detection and isolation (FDI) of sensors in chassis control systems is presented. This approach makes use of the analytical redundancy in the non-linear kinematic relationships between wheel speeds, steering angles, and the vehicle body motion, which is valid when negligible tyre slip can be assumed. Using a bounded-in-bounded-out approach, bounds for coherent sensor values are...
For all countries an integrated and purposefully police system to investigate the incident occurred, has special importance. The existence of a system that can quickly make the best decision, is very important. Today, decision support systems are reached to an important and special position. Decision support systems can be combined with different issues to better deciding in special conditions. In...
In the current day and age, traffic in urban areas is becoming more and more complex leading to congested roads and intersections. Hence, the need for sophisticated traffic control system to reduce the congestion and provide better flow management. In this paper, we present briefly the basic notions and the most important parameters that affects the traffic control. Then, we provide a survey on the...
This paper describes the modelling, the control algorithm and the flight experiments performed with an Unmanned Aerial Vehicle (UAV). The vehicle is a coaxial toy helicopter and the control platform is an indoor platform with a computer vision sensor. The dynamic model of the vehicle as well as the identification process of its parameters are described. The controller consists on a cascade control...
The objective of this paper is to address the problem of Fault Detection and Isolation (FDI) on thrusters of an over-actuated Autonomous Underwater Vehicle (AUV) under on/off abrupt faults. The goal is pursued through Non-Linear Principal Component Analysis (NLPCA), which is the non-linear extension of the popular Principal Component Analysis (PCA). While the Fault Detection (FD) system directly exploits...
The process of regenerative braking of an electric vehicle with source of energy - battery and ultracapacitor is subject of this work. The studied system is composed of a brushless DC motor, buck-boost DC converter and ultracapacitors. An optimization of the control system for storing maximum energy in the ultracapacitors is performed. The results are useful for the aim of improving the control of...
Modern automated systems need breakdown robustness, reorganizability and reconfigurability. These requirements are leading to the development of decentralized control solutions. However, the development of effective decentralized warehouse control systems is still a complex task. Cyber-Physical Systems are emerging as a promising technology for the design of a new kind of manufacturing systems. They...
Unmanned Surface Vehicles (USV) have been used in a wide range of applications, in particular in environmental monitoring. In this work we propose the design and control of an USV which is intended to be used for monitoring environmental variables of the main inlet waters located in Cartagena de Indias, Colombia, such as Chambacu, Cabrero and San Lazaro. The paper shows the results obtained in the...
The Advanced Driver Assistance Systems (ADAS) continue to grow rapidly in recent years. The ADAS can be divided into two categories: (1) vehicle lateral control assist whose actuation comes from power steering system, and (2) vehicle longitudinal control assist whose actuation comes from powertrain propulsion system and braking system. This paper proposes a two degree-of-freedom (2-DOF) controller...
Nowadays railway vehicle speed sensors suffer from insufficient measurement accuracy. E. g. the Doppler radar is prone to adverse weather conditions while wheel speed sensors are not sufficiently robust against wheel slip and wheel wear. However, since velocity sensors are safety relevant components, it becomes clear that conventional sensors are not able to cover all the requirements for an everyday...
It is difficult to make a wheeled inverted pendulum vehicle (WIP) follow an arbitrary desired trajectory while holding the inverted pendulum-like vehicle upright. In this paper, based on the presented coupled dynamic model with four independent coordinates, both the vehicle nonholonomic constraints and underactuated property are depicted. Then, by partial feedback linearization, the overall system...
Despite the fact that numerous studies have indicated that vehicular networks are vulnerable to external and internal attacks, very little effort has been expended in safeguarding communications both between elements within the vehicle and between the vehicle and the outside world. In this paper we present a mechanism that allows communications policy (essentially who can talk with whom and the security...
This paper presents a detailed, systematic procedure for developing a Micro Aerial Vehicle (MAV), which is capable of autonomous flight in GPS-denied environments. This MAV is designed for a gross weight of 490 g and flight endurance of 8 minutes. The hardware structure (including the sensors, processors, and mechanical components), the software architecture (including operating system, navigation,...
Aggressive vehicle maneuvers such as those performed by professional racing car drivers achieve high agility motion while motion stability is compromised. These aggressive maneuvers can be used to design human-inspired active safety features for “accident-free” vehicles. We present a novel control systems design for autonomous aggressive robotic maneuvers. Rather than restricting the vehicle motion...
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