scholarly journals Robust cooperative path tracking control algorithm for multi-vessel

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668330
Author(s):  
Jianfang Jiao ◽  
Guang Wang
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Cooperative Control ◽  
Control Method ◽  
Path Tracking ◽  
Ocean Currents ◽  
Guidance System ◽  
Backstepping Method ◽  
Control Approach ◽  
Virtual Leader

The issue of distributed cooperative path tracking control for multi-vessel in the presence of ocean currents has addressed in this article. The proposed cooperative control approach is achieved by designing the guidance system and the control system. In order to achieve the multi-vessel’s coordination with the desired spatial formation, the guidance system is designed based on the strategy of virtual leader for supplying the desire path and relevant parameters for each vessel. In addition, a robust cooperative path tracking controller is designed to reject the disturbance of unknown ocean currents using the backstepping method and the adaptive control technology. The synchronization between all the vessels is achieved by defining same path parameter and same speed along the path through the guidance system. Global asymptotic stability is guaranteed by Lyapunov-based technique for the whole control system. The effectiveness of the proposed cooperative path tracking control method is demonstrated by numerical simulation.

A novel adaptive control approach for path tracking control of autonomous vehicles subject to uncertain dynamics

2020 ◽  
Vol 234 (8) ◽  
pp. 2115-2126
Author(s):  
Ardashir Mohammadzadeh ◽  
Hamid Taghavifar
Keyword(s):  
Autonomous Vehicles ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Operating Conditions ◽  
Ground Vehicles ◽  
Control Approach ◽  
Autonomous Ground Vehicles ◽  
Lane Changes ◽  
Uncertain Dynamics

Autonomous ground vehicles are constantly exposed to matched/mismatched uncertainties and disturbances and different operating conditions. Consequently, robustness to resist the undesirable effect of changes in the nominal parameters of the vehicle is a significant provision for satisfactory path-tracking control of these vehicles. The accomplishment of lateral path-tracking control is an essential task expectable from autonomous ground vehicles, particularly during critical maneuvers, abrupt cornering, and lane changes at high speeds. This paper presents a new control approach based on immersion and invariance control theorem. The asymptotic stability of the proposed method is ensured and the adaptation laws for the parameters are derived based on the I&I stability theorem. The effectiveness of the proposed control method is confirmed for autonomous ground vehicles systems while making a double-lane-change at various forward speeds. The robustness of the proposed control method is evaluated under parametric uncertainties related to the autonomous ground vehicle and different road conditions. The obtained results suggest that the proposed control method holds the capacity to be applied effectively to the path-tracking task of autonomous ground vehicles under a broad range of operating conditions, parametric uncertainness, and external disturbances.

scholarly journals Path Tracking Control Method of a Modular Omnidirectional Vehicle.

2000 ◽  
Vol 66 (648) ◽  
pp. 2713-2720 ◽  
Author(s):  
Masafumi HASHIMOTO ◽  
Noriaki SUIZU ◽  
Fuminori OBA
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Path Tracking

scholarly journals Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

2020 ◽  
Vol 10 (24) ◽  
pp. 9100
Author(s):  
Chenxu Li ◽  
Haobin Jiang ◽  
Shidian Ma ◽  
Shaokang Jiang ◽  
Yue Li
Keyword(s):  
Path Planning ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Path Tracking ◽  
Intelligent Vehicles ◽  
Parking System ◽  
Automatic Parking ◽  
Real Vehicle

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

scholarly journals Cooperative Control Method of Active and Semiactive Control: New Framework for Vibration Control

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Kazuhiko Hiramoto
Keyword(s):  
Vibration Control ◽  
Active Control ◽  
Cooperative Control ◽  
Control Method ◽  
Design Method ◽  
Control Object ◽  
Control Device ◽  
Semiactive Control ◽  
Control Input ◽  
Control Approach

A new control design framework for vibration control, the cooperative control of active and semiactive control, is proposed in the paper. In the cooperative control, a structural system having both of an actuator and a semiactive control device, for example, MR damper and so forth, is defined as the control object. In the proposed control approach, the higher control performance is aimed by the cooperative control between the active control with the actuator and the semiactive control with the semiactive control device. A design method to determine the active control input and the command signal to drive the semiactive control device based on the one-step prediction of the control output is proposed. A simulation example of a control system design for a benchmark building is presented to show the effectiveness of the proposed control framework.

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

Design of Missile Longitudinal Control System Based on Backstepping Control

2014 ◽  
Vol 496-500 ◽  
pp. 1401-1406
Author(s):  
Mei Hong Li ◽  
Jian Yin ◽  
Xue Yang Sun ◽  
Jin Xiang Xu ◽  
Mei Mei Zhang
Keyword(s):  
Control System ◽  
Control Method ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Feedback System ◽  
Backstepping Control ◽  
Control Input ◽  
Backstepping Method ◽  
Longitudinal Control ◽  
And Control

Missile control system is not block strict feedback system which is suitable to use backstepping method. So in this paper, a backstepping control method is proposed to design a missile longitudinal autopilot and is proved to be asymptotically stable by Lyapunov stability theory. The simulation results show that the designed system can still track commands quickly and accurately and is robust with aerodynamic perturbation and control input saturation.

scholarly journals Pre-Work for the Birth of Driver-Less Scraper (LHD) in the Underground Mine: The Path Tracking Control Based on an LQR Controller and Algorithms Comparison

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7839
Author(s):  
Haoxuan Yu ◽  
Chenxi Zhao ◽  
Shuai Li ◽  
Zijian Wang ◽  
Yulin Zhang
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Clustering Algorithms ◽  
Development Trend ◽  
Path Tracking ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Linear Quadratic Optimal Control ◽  
The Future ◽  
Lqr Controller

With the depletion of surface resources, mining will develop toward the deep surface in the future, the objective conditions such as the mining environment will be more complex and dangerous than now, and the requirements for personnel and equipment will be higher and higher. The efficient mining of deep space is inseparable from movable and flexible production and transportation equipment such as scrapers. In the new era, intelligence is leading to the development trend of scraper (LHD), path tracking control is the key to the intelligent scraper (LHD), and it is also an urgent problem to be solved for unmanned driving. This paper describes the realization of the automatic operation of articulating the scraper (LHD) from two aspects, a mathematical model and trajectory tracking control method, and it focuses on the research of the path tracking control scheme in the field of unmanned driving, that is, an LQR controller. On this basis, combined with different intelligent clustering algorithms, the parameters of the LQR controller are optimized to find the optimal solution of the LQR controller. Then, the path tracking control of an intelligent LHD unmanned driving technology is studied, focusing on the optimization of linear quadratic optimal control (LQR) and the intelligent cluster algorithms AGA, QPSO, and ACA; this research has great significance for the development of the intelligent scraper (LHD). As mining engineers, we not only need to conduct research for practical engineering projects but also need to produce theoretical designs for advanced mining technology; therefore, the area of intelligent mining is the one we need to explore at present and in the future. Finally, this paper serves as a guide to starting a conversation, and it has implications for the development and the future of underground transportation.

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