scholarly journals Velocity tracking controller for simulation analysis of underwater vehicle model

2018 ◽  
Vol 19 (4) ◽  
pp. 229-239
Author(s):  
Przemyslaw Herman
Keyword(s):  
Simulation Analysis ◽  
Underwater Vehicle ◽  
Vehicle Model ◽  
Tracking Controller ◽  
Velocity Tracking

scholarly journals Empirical Study of Car Crash Simulation Analysis within the Development Phase

2019 ◽  
Vol 1 (1) ◽  
pp. 2843-2852 ◽  
Author(s):  
Naouress Fatfouta ◽  
Julie Stal-Le Cardinal ◽  
Christine Royer
Keyword(s):  
Empirical Study ◽  
Qualitative Analysis ◽  
Simulation Analysis ◽  
Development Phase ◽  
Vehicle Model ◽  
Crash Simulation ◽  
Automotive Company ◽  
Car Crash ◽  
Industrial Context ◽  
Current Practices

AbstractCar crash simulation analysis is an important phase within the vehicle development. It intends to analyse the crashworthiness of the vehicle model and examine the level of passive security. However, this activity is not trivial because of the considerable collaboration within the project, the large amount of analysed and exchanged data and a high exigency. Consequently, a solution to assist, ease and reduce the time of the process is desired.To study the current practices followed in the car crash simulation analysis an empirical study has been conducted. This study has been applied within the simulation analysis team, in the development phase, within an automotive company. This paper describes a qualitative analysis of the industrial context and diagnoses the dysfunctions in the current practices. This paper also highlights the current challenges encountered in the car crash simulation analysis.

A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoral fins

2014 ◽  
Vol 28 (10) ◽  
pp. 673-681 ◽  
Author(s):  
Shusheng Bi ◽  
Chuanmeng Niu ◽  
Yueri Cai ◽  
Lige Zhang ◽  
Houxiang Zhang
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Pectoral Fins ◽  
Tracking Controller

scholarly journals Non-adaptive velocity tracking controller for a class of vehicles

2017 ◽  
Vol 65 (4) ◽  
pp. 459-468 ◽  
Author(s):  
P. Herman ◽  
W. Adamski
Keyword(s):  
Control Algorithm ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Underwater Vehicles ◽  
Low Velocity ◽  
External Disturbances ◽  
Parameters Uncertainty ◽  
Tracking Controller ◽  
The Stability ◽  
Velocity Tracking

AbstractA non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

scholarly journals Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

2019 ◽  
Vol 8 (3) ◽  
pp. 808-817
Author(s):  
Mustapha Muhammad ◽  
Amir A. Bature ◽  
Umar Zangina ◽  
Salinda Buyamin ◽  
Anita Ahmad ◽  
...  
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Fuzzy Model ◽  
Control Law ◽  
Velocity Control ◽  
Wheeled Inverted Pendulum ◽  
Fuzzy Lyapunov Function ◽  
Tracking Controller ◽  
Velocity Tracking

This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.

scholarly journals Use of a nonlinear controller with dynamic couplings in gains for simulation test of an underwater vehicle model

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110161
Author(s):  
Przemyslaw Herman
Keyword(s):  
Equations Of Motion ◽  
Matrix Decomposition ◽  
Underwater Vehicle ◽  
Nonlinear Controller ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Simulation Test ◽  
Test Vehicle ◽  
Velocity Transformation ◽  
The Earth

The article considers a method of examining the influence of dynamic couplings contained in the underwater vehicle model on the movement of this vehicle. The method uses the inertia matrix decomposition and a velocity transformation if the fully actuated vehicle is described in the earth-frame representation. Based on transformed equations of motion, a controller including dynamic couplings in the gain matrices is designed. In the proposed method, the control algorithm is used for the test vehicle dynamics model taking into account disturbances. The approach is useful for simulating the model of an underwater vehicle and improving it, thus avoiding unnecessary experiments or planning them better. The procedure is shown for a full model of an underwater vehicle, and its usefulness is verified by simulation.

Sign in / Sign up

Export Citation Format

Share Document