Optimized Bézier-curve-based command generation and robust inverse optimal control for attitude tracking of spacecraft

2021 ◽  
pp. 107183
Author(s):  
Peng Wang ◽  
Xiaobing Zhang
Keyword(s):  
Optimal Control ◽  
Bézier Curve ◽  
Bezier Curve ◽  
Inverse Optimal Control ◽  
Attitude Tracking ◽  
Command Generation

scholarly journals Finite-Time Anti-Disturbance Inverse Optimal Attitude Tracking Control of Flexible Spacecraft

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Chutiphon Pukdeboon ◽  
Anuchit Jitpattanakul
Keyword(s):  
Optimal Control ◽  
Lyapunov Function ◽  
Finite Time ◽  
Estimation Error ◽  
State Observer ◽  
Flexible Spacecraft ◽  
Extended State Observer ◽  
Inverse Optimal Control ◽  
Extended State ◽  
Attitude Tracking

We propose a new robust optimal control strategy for flexible spacecraft attitude tracking maneuvers in the presence of external disturbances. An inverse optimal control law is designed based on a Sontag-type formula and a control Lyapunov function. An adapted extended state observer is used to compensate for the total disturbances. The proposed controller can be expressed as the sum of an inverse optimal control and an adapted extended state observer. It is shown that the developed controller can minimize a cost functional and ensure the finite-time stability of a closed-loop system without solving the associated Hamilton-Jacobi-Bellman equation directly. For an adapted extended state observer, the finite-time convergence of estimation error dynamics is proven using a strict Lyapunov function. An example of multiaxial attitude tracking maneuvers is presented and simulation results are included to show the performance of the developed controller.

Optimal Bezier Curve Modification Function for Contrast Degraded Images

2021 ◽  
Vol 70 ◽  
pp. 1-10
Author(s):  
Bharath Subramani ◽  
Ashish Kumar Bhandari ◽  
Magudeeswaran Veluchamy
Keyword(s):  
Bézier Curve ◽  
Bezier Curve ◽  
Degraded Images

scholarly journals Automatic Lane-Changing Decision Based on Single-Step Dynamic Game with Incomplete Information and Collision-Free Path Planning

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 173
Author(s):  
Hongbo Wang ◽  
Shihan Xu ◽  
Longze Deng
Keyword(s):  
Path Planning ◽  
Dynamic Game ◽  
Single Step ◽  
Bézier Curve ◽  
Vehicle Safety ◽  
Bezier Curve ◽  
Lane Change ◽  
Hardware In The Loop ◽  
Power Performance ◽  
Lane Changing

Traffic accidents are often caused by improper lane changes. Although the safety of lane-changing has attracted extensive attention in the vehicle and traffic fields, there are few studies considering the lateral comfort of vehicle users in lane-changing decision-making. Lane-changing decision-making by single-step dynamic game with incomplete information and path planning based on Bézier curve are proposed in this paper to coordinate vehicle lane-changing performance from safety payoff, velocity payoff, and comfort payoff. First, the lane-changing safety distance which is improved by collecting lane-changing data through simulated driving, and lane-changing time obtained by Bézier curve path planning are introduced into the game payoff, so that the selection of the lane-changing start time considers the vehicle safety, power performance and passenger comfort of the lane-changing process. Second, the lane-changing path without collision to the forward vehicle is obtained through the constrained Bézier curve, and the Bézier curve is further constrained to obtain a smoother lane-changing path. The path tracking sliding mode controller of front wheel angle compensation by radical basis function neural network is designed. Finally, the model in the loop simulation and the hardware in the loop experiment are carried out to verify the advantages of the proposed method. The results of three lane-changing conditions designed in the hardware in the loop experiment show that the vehicle safety, power performance, and passenger comfort of the vehicle controlled by the proposed method are better than that of human drivers in discretionary lane change and mandatory lane change scenarios.

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