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In this paper, the stability and synchronization control problem of bilateral shared autonomous system for miniature unmanned multirotor aerial vehicle (MUMAV) is addressed with nonpassive human and environment input forces. The master input interface design combines scaled position of the master manipulator with velocity signals of the MUMAV and reflected remote interaction forces. The slave input...
Previously, we introduced Evolutionary Model Consistency Checking (EMCC) as an adjunct to Evolvable and Adaptive Hardware (EAH) methods. The core idea was to dual-purpose objective function evaluations to simultaneously enable EA search of hardware configurations while simultaneously enabling a model-based inference of the nature of the damage that necessitated the hardware adaptation. We demonstrated...
This paper develops an adaptive control scheme for position and velocity tracking control of high speed trains under uncertain system nonlinearities and actuator failures. Neural networks with self-organizing capabilities are integrated into control design, where the number of the neurons can be adjusted online automatically, so as not only to avoid the problem inherent in the NN with fixed structure...
This paper proposes a parameter estimator for four-wheel-independently driven electric (4 WID) vehicle with in-wheel motors. The mass and location of payload have great impacts on the stability and maneuverability of lightweight vehicles (LWVs). Fast, effective and real-time parameter estimator can make the existing controller adjust the changed parameter caused by additional payload. The proposed...
A new Interacting Multiple Model filter with two modes is introduced for estimating the vehicle yaw-rate, lateral velocity, road bank angle and crosswind force. One mode corresponds to a steering input, and the second to an external disturbance input. With moderate sensor demands, the presented estimator is shown to perform accurately in simulations, and outperforms a conventional Luenberger estimator.
Based on the model of TFC20 electric forklift, the composition and working principle of the steer by wire (SBW) system is introduced in this paper. And then the relationship between steering handle force characteristics and vehicle speed, the relationship between steering handle force characteristics and steering handle angle, and the relationship between steering handle force characteristics and...
The vehicle braking force distribution of front and rear axles affects its safety directly. In order to enhance the braking safety, the changes of brake strength are considered in this paper, and an optimization algorithm for braking force distribution is designed. The method is the variable ratio method, and it can change the braking force distribution rate of front and rear axles according to the...
Parametric control systems design approaches possess the advantage of providing all the degree of freedom in the system design and are very effective in dealing with multiple objective design. To facilitate the parametric control design for hypersonic vehicles (HVs), this paper derive the parametric control-oriented models for a general nonlinear longitudinal dynamical model of HVs. The force and...
This paper presents an extended kinematics and dynamics of the articulated tracked vehicles (ATV) used in many applications. The velocity of the front and the rear vehicle are firstly analysed and the kinematics of ATV is built, according to which the steer radius and the track velocity can be obtained. Then we analyse the force and moment acting on the ATV running on the firm ground and the soft...
This paper presents simplified design of a planar induction motor climbing an inclined steel plate. The motor set-up consists of two individually controlled linear motors firmly coupled via an aluminum frame with a drive system to provide 1-D translational and rotational motion. The motor set-up is also equipped with a position sensor to locate the mover in real time. To simplify the motor structure...
A Simulink® Hybrid Electric Vehicle dynamics model for the control of energy management and vehicle stability is developed. The model encompasses a transitional vehicle speed input parameterized by the New European Driving Cycle. Internal combustion engine torque, motor torque and varying corner radii are set to the same time constraints as the drive cycle. Lateral acceleration, yaw rate and tyre...
The software was developed to realize the braking calculation of self-designed low-floor trams throughadjusting parameters, such as the bogie number, the bogie type, vehicle parameters, electro-hydraulic braking parameters, foundation braking parameters and so on. In this software, the calculation of braking force, the brake cylinder pressure, the braking distance, braking time can be achieved. Thedistribution...
In this paper, a tabu-based variable neighborhood local search (TBVLS) is proposed to solve the n-vehicle exploration problem (NVEP), in which a fleet of n vehicles' trip sequence is determined so as to ensure one of the vehicles visits the farthest distance. In TBVLS, tabu search is employed to conduct iteratively local search around the solution space, which is incorporated with three variable neighborhood...
Speed, agility, maneuverability, range and efficiency of birds and insects are far beyond the conventional flying mini vehicles. There are various research works to create vehicles that imitate these amazing creatures. In this paper, a wing mechanism is designed for a micro aerial vehicle using four flapping wings. In this system, a four-bar mechanism is preferred as the wing mechanism. In order to...
This paper presents a novel technique for mapping and exploration using cooperating autonomous underwater vehicles. Rather than using the typical lawnmower sweep pattern to search an entire area, the proposed navigational plan involves guiding the formation directly towards each object of interest in turn, before arriving at a final goal position. This is achieved by the use of traditional artificial...
Electric vehicle appears to be one of the valuable solutions for environmental protection and the fast rate of depletion of world fuel oil supply. In particular, due to an increase in the elderly population and aging of a megacity, the need for electric micro mobility is even more apparent. Electric vehicles have serious disadvantages because of the limitation on cruising range imposed by weight,...
This paper presents the combination of Potential Flow Field (PFF) and Virtual Force Field (VFF) methods to construct a viable means for UAS's to autonomously navigate and avoid collisions with obstacles. A validated flight dynamics model of a fixed-wing UAS was integrated with a heading hold autopilot that receives commanded heading angles from the selected output of the PFF and VFF methods. PFF primarily...
This work proposes the representation of the high level dynamic modelling of a formation of two quadrotor UAVs cooperatively carrying a suspended load. The two quadrotors are attached to the load by massless and stretchable cables, which can slack and taut during the task accomplishment. The cable is modeled as a high stiffness spring with a damping coefficient, according to the Hooke's law, and its...
This paper presents the modeling, the design of control laws, for Euler angles and altitude, and their implementation. The proposed controller is based on the backstepping procedure and uses a state feedback linearizing technique to guarantee tracking of the desired Euler angles and altitude on the ornithopter. The provided controller provides exponential convergence to the desired values. Numerical...
This paper presents the design and simulation of an energy-based control strategy to stabilize a quadrotor described with unit quaternions and their axis-angle representation. The mathematical model is based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space. The proposed solution introduces a new approach: a quaternion-energy-based control, which introduces an energy...
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