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The compliant rear-wheel steering (CRS) system can strengthen the characteristic of under-steer to guarantee the vehicle driving safety. One kind of CRS system equipped with the elasticity component of viscoelasticity is studied in this article. The kinematic simulation results show that if the steering stiffness of the CRS system is positive, the direction of compliant rear wheel steering is opposite...
The Full Toroidal Variator is the core element in many mechanical hybrid systems for vehicle applications like Kinetic Energy Recovery System and Infinitely Variable Transmission because it allows to manage the power transfer with continuous variation of the speed-ratio. In this paper the model of a Full Toroidal Variator is addressed using Power-Oriented Graphs (POG) that is an energy-based modeling...
The problem of a flight vehicle intercepting an unknown maneuvering target is investigated. Interceptor's possible guidance laws are considered while target's limited maneuver forms are assumed. The terminal guidance is divided into several phases and system information is expressed by a few matrices. We describe the pursuit-evasion scenario as an evolutionary game process. An approach to formulation...
This article discusses the tracking control problem of a more general class of underactuated vehicle systems. A new tracking controller is designed by decomposed the whole system into two interconnected subsystems. The adaptive controller is also proposed under the condition that some system parameters are uncertain. The global uniformly boundedness of signals and the convergence of whole states in...
This paper presents a model predictive online optimization scheme for the engine torque control problem. The control-oriented model is based on the intake air charging dynamics and torque generation model which are derived from the mean value model. In order to reduce the tracking error induce by the insufficient accurate predictive model, an embedded integrator about the tracking error is designed...
The dynamic model and its dynamic equations for the full trailer are established according to principles of Rigid-body Dynamics in this article. Based on the dynamics model of fully articulated vehicle, the trailer controller is designed as a reference model for the optimal control system of the model following variable structure control system. The control system adopts the pole assignment method...
The puff (or the pollutant puff) represents an instantaneous pollution cloud released in the ambient atmosphere. This paper describes, and validates a complete dynamic data driven application system (DDDAS) for measuring and simulating a puff in a dynamic, urban environment. Unmanned aerial vehicles (UAVs) are used as mobile sensors to collect data from the concentration field which is then assimilated...
A state predictor control scheme is presented in this paper. The predictor is based on the Fundamental Calculus Theorem and its stability analysis is proved using the Backstepping approach. The proposed predictor-control scheme is validated in the nonlinear model of a quadrotor vehicle with delayed inputs. In order to prove its robustness in simulation, noise and dropout data are included in the emulation...
The research discussed here proposes a control system with compensation to maintain consistent performance for quadrotors under system variations, specifically due to battery drainage and mass changes. This compensation control system is comprised of three subsystems. The first subsystem is a baseline PID controller, which generates a desired rpm for each motor. The second subsystem compensates for...
This paper proposes a new approach to the boundary value problem of finding a vehicle path from an initial state, defined by a position and velocity vector, to a target position. The presented method explicitly considers magnitude constraints on both the velocity and the acceleration of the vehicle when determining the path. A semi-analytic and computationally efficient algorithm is employed, applicable...
Preliminary results on quadrotor control strategies enabling omnidirectional radio frequency (RF) sensing for source localization and tracking are discussed. The use of a quadrotor for source localization and tracking requires a tight coupling of the attitude control and RF sensing designs. We present a controller for tracking a ramp reference input in yaw (causing rotation of quadrotor) while maintaining...
The importance of electric and hybrid vehicles as a serious alternative to conventional-driven vehicles especially in urban areas increases. But the low capacity of the battery minimizes the use for the long distance. A quick charging time realized by a high power level of 50 kW (compared with a standard charging station) enables a higher range per day. Therefore the development of an infrastructure...
Variable universe fuzzy control based on intelligent control technology is proposed in this paper for the hypersonic flight process of nearspace vehicle (NSV) with severe changes of aero-dynamic parameters and susceptibility on the external disturbances. And the contraction-expansion factor of the fuzzy control is given to modify the scale of universe and reduce the computational cost. By adopting...
We herein present a tabu search algorithm with variable cluster grouping (TSVCG for short) to deal with Multi-depot vehicle routing problem (MDVRP for short). In TSVCG, we firstly adopt variable cluster grouping to convert a complicated MDVRP to typical single depot vehicle routing problem (SDVRP for short). And then we apply a tabu search algorithm to solve each SDVRP. In the grouping process, we...
Attitude estimation for an aerial vehicle using the Kalman Filter - KF- with experimental validation is presented in this paper. The data fusion is made using simplified representations of the kinematics of the aerial vehicle and the accelerometer measurement model. The resulting algorithm is computationally efficient as it can be run at up to 500 Hz on a low-cost microcontroller. The observer is...
Rotational sensorless control methods which are particular to the railway vehicle applications are presented in this paper. An induction motor speed sensorless control method for railway vehicle traction is introduced, including the re-powering control method. Especially, a mechanical simulator method which is utilized for stating induction motors at zero speed condition are presented. A permanent...
This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the advantages of simplicity and ease of implementation. A Lyapunov-like function is presented for stability...
Autonomous vehicles are important to execute missions without the need to put at risk people's life. To achieve this goal, it is essential that these vehicles are endowed of a collision avoidance system. In this study we discuss the use of received signal strength (RSS) of beacons from a vehicular ad hoc network (VANET) as a way to detect dangerous approaches among autonomous vehicles. We extend this...
In recent years, the understanding and development of Unmanned Aircraft Systems (UAS) has grown exponentially. With technological advancements in the fields of integrated circuits and battery polymers it is now possible to produce UAS that can provide benefits far outside their initial military purposes. Despite this, there are still very few developed UAS that can exploit such technological advancements...
Field operations in remote locations or within hazardous scenarios benefit greatly from the ability to deploy general purpose networks that can be accessed not only by operation vehicles but also human participants. The existence of these networks allows the transmission of data vital to operation success that otherwise might not have the means to flow. Knowing how the network is distributed and its...
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