Fixed-Time Path-Following Control of An Autonomous Vehicle with Path-Dependent Performance and Feasibility Constraints

2021 ◽  
pp. 1-1
Author(s):  
Xu Jin ◽  
Shi-Lu Dai ◽  
Jianjun Liang
Keyword(s):  
Autonomous Vehicle ◽  
Path Following ◽  
Fixed Time ◽  
Time Path ◽  
Path Following Control ◽  
Feasibility Constraints ◽  
Path Dependent

scholarly journals Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

2020 ◽  
Vol 10 (18) ◽  
pp. 6447
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Time Path ◽  
Path Following Control ◽  
Control Scheme ◽  
Marine Surface ◽  
Surface Vessel

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.

scholarly journals Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Adorjan Kovacs ◽  
Istvan Vajk
Keyword(s):  
Autonomous Vehicle ◽  
Path Following ◽  
Allocation Problem ◽  
Cost Functions ◽  
Test Vehicle ◽  
Novel Approach ◽  
Path Following Control ◽  
Cascade Structure ◽  
Time Test ◽  
Autonomous Electric Vehicles

This paper presents a novel approach for path-following control of a four-wheeled autonomous vehicle. The rear wheels of the vehicle are driven independently, all four wheels can be braked independently, and the front wheels are steered together. The proposed cascade structure consists of two convex optimization-based parts: one for path-following and another for the control allocation problem of the actuators. The control algorithm presents cost functions for the allocation problem focusing on safety. The proposed cost functions were examined and compared to former ones in a simulation environment. After all, the controller was tested in real-time test on a Lotus Evora test vehicle developed by ThyssenKrupp.

scholarly journals Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhengyang Cui ◽  
Yong Wang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Finite Time ◽  
Control Strategies ◽  
Path Following ◽  
Fixed Time ◽  
Control Laws ◽  
Aerial Vehicles ◽  
Path Following Control ◽  
Heading Control ◽  
Cross Track

With growing worldwide interests in commercial, scientific, and military issues, there has been a corresponding rapid growth in demand for the development of unmanned aerial vehicles (UAVs) with more reliable and safer motion control abilities. This paper presents a new nonlinear path following scheme integrated with a heading control law for achieving accurate and reliable path following performance. Both backstepping and finite-time techniques are employed for developing the path following and heading control strategies capable of minimizing cross-track errors in finite-time with elegant transient performance, while the barrier Lyapunov function scheme is adopted to limit turning rates of the UAV for preventing it from capsizing which may be induced by overquick steering actions. A fixed-time nonlinear estimator, based on UAV kinematics, is designed for estimating the uncertainties with sideslip angles caused by external disturbances and inertial motions. To avoid the complicated calculation of derivatives of virtual control terms in backstepping, command filters and auxiliary systems are likewise introduced in the design of control laws. Extensive numerical simulation studies on a nonlinear UAV model are conducted to demonstrate the effectiveness of the proposed methodologies.

A contribution to minimum-time task-space path-following problem for redundant manipulators

Robotica ◽  
2003 ◽  
Vol 21 (2) ◽  
pp. 137-142 ◽  
Author(s):  
Francesco Basile ◽  
Pasquale Chiacchio
Keyword(s):  
Path Following ◽  
Joint Space ◽  
Minimum Time ◽  
Redundant Manipulators ◽  
Task Space ◽  
Time Path ◽  
Solution Algorithms ◽  
Path Following Control ◽  
Inverse Kinematics Problem ◽  
Three Degree Of Freedom

The minimum-time path-following problem for non-redundant manipulator has already been analyzed and a number of efficient solution algorithms have been proposed. These algorithms can be applied also to redundant manipulators if the path is assigned in the joint space. If the path is assigned in the task space instead, how to exploit kinematic redundancy to reduce the execution time is still an open problem. In this paper it is proposed to follow a heuristic approach to choose between different solutions to the inverse kinematics problem that underlies the minimum-time path-following control problem. The aim is to obtain a joint-space path which configures the manipulator so as to improve acceleration/deceleration capabilities of the end-effector. This is obtained by penalizing the motion of joints with higher inertia-to-torque ratios. Numerical results are presented for an “easy-to-understand” three degree-of-freedom planar manipulator involved in two-dimensional paths.

Adaptive Finite Time Path-Following Control of Underactuated Surface Vehicle With Collision Avoidance

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Jawhar Ghommam ◽  
Lamia Iftekhar ◽  
Maarouf Saad
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Path Following ◽  
Control Laws ◽  
Finite Time Stability ◽  
Time Path ◽  
Path Following Control ◽  
Unknown Disturbances ◽  
Local Path ◽  
Surface Vessel

Abstract This paper considers the finite time path-following control problem for an underactuated surface vessel subject to parametric uncertainties, unknown disturbances, and involving input-control saturation. A finite time command filtered backstepping approach is adopted as the main control framework along with the first-order sliding mode differentiator introduced to compute the derivatives of virtual control laws, and the analytical computational burden in the backstepping control is reduced for the design of the control for the underactuated surface vessel. A rigorous proof of the finite time stability of the closed-loop system is derived by utilizing the Lyapunov method. Furthermore, in order to avoid obstacles, a local path replanning technique is designed based on a repulsive potential function that acts directly on the original desired path. The effectiveness of the proposed strategy is validated through numerical simulations.

Sign in / Sign up

Export Citation Format

Share Document