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This paper investigates the issue of fuzzy dynamic integral sliding-mode controllers for nonlinear descriptor systems based on Takagi-Sugeno (T-S) fuzzy models. A fuzzy dynamic integral sliding-mode control (DISMC) scheme is developed for the nonlinear descriptor systems to remove the restrictive assumption that all local models share a common input matrix, which is required in most existing fuzzy...
In view of the mars reentry problem under external disturbance, this paper presents a guidance algorithm based on drag tracking. First of all, the reference drag is calculated based on the reentry model and the reference trajectory. Secondly, estimated disturbance via the sliding mode observer, this paper improve the accuracy of the controller parameters and increase the anti-disturbance capability...
Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to help avoid obstacles, deal with system disturbances and correct uncertainties. However, constant checking is time and energy consuming and is often not necessary especially in situations in which the UAV can safely fly using open loop control without entering unsafe states. Thus, in this paper we focus on two main...
For the problem of sail-assisted ship prone to track deviation influenced by wind and other disturbances, a fuzzy adaptive iterative sliding mode control method is presented. The evaluation function is introduced into fuzzy control scheme to evaluate and adjust the designed parameters online. Under the proposed method, the estimation of the uncertain parameters and disturbances can be avoided, moreover,...
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...
For the problem of the synchronization between two chaotic systems with external disturbances and nonlinear input, based on the Lyapunov's stability theory and combined the finite time principle with control technology existed, a sliding mode controller was designed by a new type of sliding surface and the corresponding control rule of sliding mode selectivity to achieve the synchronization control...
The problem of the state tracking over a finite-time interval is concerned in this paper. Based on the average dwell-time method, both matched and unmatched cases are considered in the system. To make the state tracking error is finite-time bounded and the considered system achieves a weighted H∞ performance for the exogenous disturbance, the switching law is designed by the states error. Sufficient...
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,...
Within the complex driving environment, progress in autonomous vehicles is supported by advances in sensing and data fusion. Safe and robust autonomous driving can only be guaranteed provided that vehicles and infrastructure are fully aware of the driving scenario. This paper proposes a methodology for feature uncertainty prediction for sensor fusion by generating neural network surrogate models directly...
The high-accuracy trajectory tracking pneumatic position servo system proposed in this paper mainly consists of a cylinder which is controlled by a proportional directional control value. Due to there exist large extent of parametric uncertainties and severe uncertain nonlinearities in the pneumatic system, an adaptive robust control strategy was constructed, which employs on-line recursive least...
A tractor-trailer wheeled robot (TTWR) is a kind of modular robotic system that consist of the tractor and the trailer are mechanically coupled to each other. It is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraints property, this paper proposes an adaptive robust cascade controller...
Sliding mode control (SMC) design technique is a well-known control design method to cope with disturbance and uncertainty. This paper considers a new sliding model design technique for a class of second-order systems which are acted by friction force. Comparing to the global sliding model design technique, it designs the sliding mode for a specific sliding region. Outside the sliding region, the...
In this paper, decentralized adaptive control is investigated for a class of discrete-time nonlinear hidden leader-follower multi-agent systems. Different from the conventional leader-follower multi-agent system, among all the agents, there exists a hidden leader that knows the desired reference trajectory, while the follower agents know neither the desired reference signal nor who is a leader. The...
Early detection of small faults in closed-loop systems is a challenging issue in the fault diagnosis literature. The effect of faults in closed-loop systems will be obscured by a robust feedback control, especially when the controller is coupled with nonlinear uncertainty. In this paper, an approach for rapid detection for small faults in a class of closed-loop uncertain systems is proposed based...
This article examines the experimental issues associated with the area coverage problem using a network of mobile robots. The developed schemes in the literature assume an unrealistic perfect knowledge of each point-robot's position. To account for the imprecise robots' localization, the covered space partitioning relies on the Guaranteed Voronoi (GV) principle, under the assumption of uniform radial...
The output tracking control problem is considered for a class of uncertain nonlinear systems with time delays and dead-zone inputs. A simple design method is proposed so that a class of adaptive robust output tracking control laws can be synthesized. In particular, the synthesized controllers have a rather simple structure, and can be easily realized in practical engineering control systems. In this...
This paper presents a probabilistic approach to estimate the collision risk between two ROVs operating on trajectories at different depth levels. For an analytically tractable formulation, a circular cylindrical boundary is considered as a safe separation zone around each ROV, and any violation of this safe zone is defined as a conflict. The conflict probability between two ROVs is then estimated...
This paper deals with developing an automatic controller that solves the attitude stabilization for a Quadrotor unmanned aerial system (UAS). The controller used a simultaneous strategy of estimation and compensation of uncertainties as well as disturbances. The approach consisted of integrating a neuro-fuzzy system that implemented a set of differential neural networks (DNNs) as consequence section...
Long-term prediction of traffic participants is crucial to enable autonomous driving on public roads. The quality of the prediction directly affects the frequency of trajectory planning. With a poor estimation of the future development, more computational effort has to be put in re-planning, and a safe vehicle state at the end of the planning horizon is not guaranteed. A holistic probabilistic prediction,...
Trajectory clustering techniques help discover interesting insights from moving object data, including common routes for people and vehicles, anomalous sub-trajectories, etc. Existing trajectory clustering techniques fail to take in to account the uncertainty present in location data. In this paper, we investigate the problem of clustering trajectory data and propose a novel algorithm for clustering...
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