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The paper presents a derivation of a cascaded control system for autonomous vehicles moving in a 3D space in the task of tracking a time-parametrized desired trajectory. For a purpose of an outer-loop (kinematic-level) control design one proposes to utilize the Vector Field Orientation (VFO) methodology which has been successfully applied and extensively tested so far in the area of wheeled mobile...
A predictor-corrector entry guidance method satisfying the constraints of no-fly zone and waypoint is proposed in this paper. First, Gauss pseudospectral method is used to generate a reference trajectory. Based on the reference trajectory some reference points are selected which partition the entry process into several subsections. Then a predictor-corrector guidance law is developed. The trajectory...
Object of this work is hypersonic cruise vehicle which cruises at Mach number beyond 5 in atmosphere. Range of this vehicle is often restricted by the poor aerodynamic, propulsive and structural performances and severe persistent aerodynamic heating. To extend its range, optimal periodic cruise trajectory has been adopted herein to improve fuel efficiency and remit heat accumulation. The performance...
The standard output regulation theorem is utilized to construct a nonlinear flight tracking controller for a hypersonic vehicle in presence of non-minimum phase dynamic in the paper. When the elevator is chosen as the only control surface, the hypersonic vehicle model exhibits unstable hyperbolic zero-dynamics, preventing the application of standard inversion-based control technique. The standard...
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems...
The recent development on micro aerial vehicles (MAV), especially the unmanned quadrotor proposes increased requirements on reference generation. This paper proposed a dynamically feasible, state constrained and smooth trajectory generation method using B-spline. The reference can be shown to satisfy the dynamics of the quadrotor and accurate tracking performance is guaranteed. The algorithm can be...
An optimal guidance law of reentry vehicle both with terminal interception and impact angle constraint is derived, and tow types of optimal guidance law expressions “Proportional Navigation + Angle Constraint (PN+AC)” and “Velocity Pursuit + Angle Constraint (VP+AC)” are given with lag-free dynamic system. Then, simulations of non-dimensional miss distance and impact angle error base on statistical...
5G-based Vehicular Social Network (VSN) fiercely calls for an advanced requirement of vehicle's location and trajectory privacy preserving scheme. Since the VSN owns the characteristics of high mobility and multiple hops relay, we first construct an architecture of 5G-based VSN with the Mobile Femtocell (MFemtocell). Then we propose the Dynamic Group Division algorithm (DGD), which is suitable for...
The performance in any flight system depends on the feedback control scheme. Therefore, in a first stage, we apply as a basis the so-called Model Free Control (MFC) for the development of nonlinear flight control law that could be implemented without much difficulty. As second step, an in-depth discussion with respect to the control performance is highlighted. Due to the novel form that we propose,...
The paper introduces a new, original approach for the application in robotics and automation. The application concerns a path planning module of an intelligent control system. The marine environment was chosen as an exemplary application area, but the method can also be applied for mobile robots. The presented approach calculates a safe, optimal path for a ship in a dynamic environment, where static...
A novel initial descent guidance law based on the transition function is proposed for the hypersonic glide vehicle without offline nominal angle of attack (AOA) design and online iteration process. Considering the variation of the gravitational acceleration, a new transition condition between the initial descent phase and the quasi-equilibrium glide phase is deduced. Afterwards, the initial descent...
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating...
In this paper, the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle (UUV) control. Firstly, the kinematic tracking controller based on model predictive control (MPC) is applied to reach the tracking control in a kinematic way. Compared with conventional backstepping control, MPC can solve the speed jump control problem very...
This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model...
This paper deals with the trajectory tracking problem of a quadcopter system through a two-layer optimization-based control strategy. The top layer controller employs the MPC (Model Predictive Control) method making use of the linearized translation dynamics in order to achieve the thrust and the sets of the reference angles. The lower control layer considers a combination of feedback linearization...
In this works, a novel lane reference calculation approach is developed in order to define a safe and optimal trajectory to be tracked by a road vehicle. In a first step of the design, the lane boundaries are extracted using a vision based lane detection algorithm, which consists in an homography transformation that helps to extract features from the captured image frames in order to map a set of...
In this paper a hierarchically structured framework is proposed for the time-optimal trajectory planning and control of autonomous electric vehicles with state and input constraints for fixed test paths. The time-optimal reference signals are obtained by solving a dynamic nonlinear optimal control problem associated with the kinematic model of the vehicle using direct discretization and multiple shooting...
This paper proposes a geometric model based lateral control system for a ground vehicle. Lateral control algorithm takes the advantages of two different path tracking methods at different path geometries. Two of the well-known geometric path tracking methods, namely Pure-Pursuit method and Stanley method, are combined with a simple and easy to implement approach. Pure-Pursuit method is very good at...
This research assesses optimal low-power communication between devices in dynamic networks, considering delay and disruption tolerance. Given each device's motion and power output, it is possible to determine a path requiring the least power for communication, power usage, and time step after spatially correlated errors in disruption zones of networks. This work gives the proof of determining disruption...
Parking is one basic function of autonomous vehicles. However, parking still remains difficult to be implemented, since it requires to generate a relatively long-term series of actions to reach a certain objective under complicated constraints. One recently proposed method used deep neural networks(DNN) to learn the relationship between the actual parking trajectories and the corresponding steering...
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