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This paper proposes a novel nonlinear controller for path following control of underactuated autonomous underwater vehicle (AUV) in the horizon plane. In order to overcome the drawback of dependence on the accurate dynamic model that are present in a number of path following control strategies described in the literature, the unknown environmental disturbances and unmodeled dynamics are viewed as...
We analyze a specific practical problem of bearing-only localization of a stationary target using noisy measurements from three sensors. It is well understood that the performance of any target position estimator is considerably influenced by the sensor-target geometry. The performance achievable can be measured in terms of the Cramer-Rao lower bound (CRLB) on the algorithm covariance. However, the...
This paper addresses the problem of finding an unknown number of stationary objects distributed in a bounded search domain within bounded time. We assume the search agent is equipped with a search sensor and an environmental characterization sensor, and that these sensors operate simultaneously. Our cost function accounts for false positives, false negatives and environmental uncertainty. We consider...
In this paper, Fault Detection and Diagnosis (FDD) and Active Fault Tolerant Control (AFTC) algorithms are proposed to compensate for a ramp-type Loss-of-Effectiveness (LoE) actuator fault applied on the quadrotor system. Based on the Model-Free concept, an output estimator design called intelligent Output-Estimator (iOE) is presented to estimate the outputs of the system and then used to improve...
This conference paper figures out the tracking control issue of a flapping wing micro aerial vehicle (FWMAV) subject to uncertain system parameters based on the model in Lagrangian form. As we know, there are many uncertainties in the complex nonlinear system. To deal with this problem, radial basis function neural networks (RBFNNs) are considered to substitute uncertainties of FWMAV model. Through...
Decision making for lane change manoeuvre is of practical importance to guarantee a smooth, efficient and safe operation for autonomous driving. It is, however, challenging. On one hand, the behaviours of ego vehicle and adjacent vehicles are dependent and interactive. On the other hand, the decision should strictly guarantee safety during the whole process of lane change with uncertain and incomplete...
Predictive Situation Awareness (PSAW) is the ability to estimate and predict aspects of a temporally evolving situation. PSAW systems reason about complex and uncertain situations involving multiple targets observed by multiple sensors at different times. Multi-Entity Bayesian Networks (MEBN) are rich enough to represent and reason about uncertainty in complex, knowledge-rich domains, and have been...
Future driver assistance systems will rely heavily on fusion systems and an exact knowledge of the static environment. Several aspects like driving path detection, parking assistants, emergency braking and trajectory planning need the knowledge about non-moving objects in the surroundings of the vehicle. In order to build robust maps of the environment, several possibly conflicting sensor readings...
Point-shaped objects are a common landmark type for environment-based vehicle self-localization. In this paper, different ways to describe point-shaped landmarks for recognition are investigated: description by absolute position, by features or by constellation in a rigid group with other point-shaped landmarks. Points described by a point group can be associated independently of the prior vehicle...
A novel robust adaptive control scheme is developed based on the characteristic modeling and discrete-time sliding mode control theory, for the attitude control of a hypersonic vehicle with parameter uncertainties and time-variation. The characteristic model of the hypersonic vehicle is derived considering the control objective and the vehicle feature firstly. Then a discrete-time sliding mode control...
The maneuver control of hypersonic vehicles (HSVs) during re-entry is a challenging work due to the object features of serious nonlinearity, strong uncertainty and fast time variation. In this paper, we design the maneuver control architecture of lateral turning for the HSV first, and then a new self-organizing recurrent functional link network (SORFLN) is proposed to estimate the dynamical uncertainties/disturbances...
The traffic assignment problem (TAP) plays a key role in the context of efficient urban mobility. The TAP can be approached from various perspectives. One of the fundamental models to solve the TAP is the so-called User Equilibrium (UE), which assumes that drivers behave rationally aiming at minimising their travel costs. However, this is a complex optimisation problem. To this regard, in this paper...
Increasing the level of autonomy facilitates a vehicle in performing long-range operations with minimum supervision. This paper shows that the ability of Autonomous Underwater Vehicles (AUVs) to fulfill mission objectives is directly influenced by route planning and task assignment system performance. This paper proposes an efficient task-assign route-planning model in a semi-dynamic network, where...
This paper studies an uncertain time-dependent vehicle routing problem with soft time windows. A novel mathematical model which considers both transportation costs (total traveling distance and number of vehicles) and service costs (early and late arrivals) is developed, and the equations for calculating the expected total service costs are deduced under uncertainty and time-dependency. A variation...
In order to solve the problems emerged in the situation trying to combine conflict evidences using Dempster-Shafer theory, a new combination rule based on Dubois and Prade rule was raised. A method of using the new rule together with Bayesian Approximation was proposed to combine evidences from different bodies. Firstly the proposition transformation of discernment frame was discussed both in the...
Stabilization of gimbal platform housing the payload in Micro Air Vehicle (MAV) applications is crucial in operational situations. The gimbal positioning is achieved through a DC servo motor, which needs to be controlled for the desired performance under uncertainty and disturbance. In this work a novel robust control strategy employing the technique of Uncertainty and Disturbance Estimator (UDE)...
In this paper, the problem of robust tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator saturation and uncertainties is conducted. In order to guarantee that the velocity and altitude to track their reference commands, an adaptive anti-up control strategy is presented based on sliding mode control method. The adaptive...
A new control method independent of plant model is proposed for course tracking control in an autonomous surface vessel. The autopilot design is based on the linear active disturbance rejection control (LADRC) strategy, which actively compensates for dynamic changes in the system and unpredictable external disturbances. The LADRC controller uses an extended state estimator to give an estimation of...
This paper tackles the tracking control of flexible hypersonic vehicle (FHV) with mismatched uncertainties by utilizing the adaptive nested terminal sliding mode control method. The controllers of velocity loop and altitude loop are designed separately based on the control-oriented model which is obtained by simplification of the FHV model. It's noted that the previous sliding mode control is sensitive...
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