UAV autonomous decoupled dynamic longitudinal-lateral motion control using full-order state observer

2014 ◽  
Vol 2 (4) ◽  
pp. 1-15
Author(s):  
Murad Al Shibli
Keyword(s):  
Motion Control ◽  
State Observer ◽  
Lateral Motion ◽  
Order State

The Design of Optimal Lateral Motion Control of an UAV Using the Linear-Quadratic Optimization Method in the Complex Domain

2020 ◽  
Vol 13 (6) ◽  
pp. 217
Author(s):  
Vadim Kramar ◽  
Vasiliy Alchakov ◽  
Aleksey Kabanov ◽  
Sergey Dudnikov ◽  
Aleksandr Dmitriev
Keyword(s):  
Motion Control ◽  
Optimization Method ◽  
Quadratic Optimization ◽  
Complex Domain ◽  
Lateral Motion ◽  
Linear Quadratic

Coordinated Longitudinal and Lateral Motion Control for Four Wheel Independent Motor-Drive Electric Vehicle

2018 ◽  
Vol 67 (5) ◽  
pp. 3782-3790 ◽  
Author(s):  
Hongliang Zhou ◽  
Fengjiao Jia ◽  
Houhua Jing ◽  
Zhiyuan Liu ◽  
Levent Guvenc
Keyword(s):  
Electric Vehicle ◽  
Motion Control ◽  
Motor Drive ◽  
Lateral Motion

Network Control of Vehicle Lateral Dynamics With Control Allocation and Dynamic Message Priority Assignment

2013 ◽  
Author(s):  
Zhibin Shuai ◽  
Hui Zhang ◽  
Junmin Wang ◽  
Jianqiu Li ◽  
Minggao Ouyang
Keyword(s):  
Motion Control ◽  
Time Delays ◽  
Network Control ◽  
Lateral Motion ◽  
Priority Assignment ◽  
Limited Bandwidth ◽  
Vehicle Networks ◽  
Adverse Influence ◽  
Point To Point ◽  
Vehicle Network

In this paper we study the lateral motion control and torque allocation for four-wheel-independent-drive electric vehicles (4WID-EVs) with combined active front steering (AFS) and direct yaw moment control (DYC) through in-vehicle networks. It is well known that the in-vehicle networks and x-by-wire technologies have considerable advantages over the traditional point-to-point communications, and bring great strengths to 4WID-EVs. However, there are also bandwidth limitations which would lead to message time delays in network communication. We propose a method on effectively utilizing the limited bandwidth resources and attenuating the adverse influence of in-vehicle network-induced time delays, based on the idea of dynamic message priority assignment according to the vehicle states and control signals. Simulation results from a high-fidelity vehicle model in CarSim® show that the proposed vehicle lateral control and torque allocation algorithm can improve the 4WID-EV lateral motion control performance, and the proposed message priority dynamic assignment algorithm can significantly reduce the adverse influence of the in-vehicle network-induced time delays.

scholarly journals Reduced-Order State Observer-Based Feedback Control Methodologies for Doubly Fed Induction Machine

2018 ◽  
Vol 54 (3) ◽  
pp. 2845-2856 ◽  
Author(s):  
Rojan Bhattarai ◽  
Niroj Gurung ◽  
Abilash Thakallapelli ◽  
Sukumar Kamalasadan
Keyword(s):  
Feedback Control ◽  
Induction Machine ◽  
State Observer ◽  
Reduced Order ◽  
Doubly Fed Induction Machine ◽  
Doubly Fed ◽  
Order State

Command-filter-adaptive-based lateral motion control for autonomous vehicle

2022 ◽  
Vol 121 ◽  
pp. 105044
Author(s):  
Junda Zhang ◽  
Jian Wu ◽  
Jianmin Liu ◽  
Qing Zhou ◽  
Jianwei Xia ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Lateral Motion ◽  
Command Filter

Lateral Motion Control of a Vehicle Using the Rear Steer: Simulation Study

2015 ◽  
Author(s):  
Jin-Woo Lee ◽  
Bakhtiar B. Litkouhi
Keyword(s):  
Motion Control ◽  
Steering System ◽  
Lateral Motion ◽  
Automated Driving ◽  
Motion Error ◽  
Driving Mode ◽  
Vehicle Technology ◽  
Path Prediction ◽  
Future Work ◽  
Control Methodology

The lateral motion control is a key element for automated driving vehicle technology. Typically, the front steering system has been used as the primary actuator for vehicle lateral motion control. Alternatively, this paper presents a new method of the lateral motion control using a rear steer. When combined with the front steer actuator, the rear steer can generate more dynamically responsive turning of the vehicle. In addition, the rear steer can be used as a secondary back up actuator when the front steer actuator fails to operate during automated driving mode. Similar to the prior research that has used the front steer actuator for the lateral control, the control methodology presented in this paper maintains the same hierarchical framework, i.e., sensor fusion, path prediction, path planning, and motion control. Since the rear steer is in play for the vehicle lateral motion control, the equations for the path prediction and vehicle dynamics are re-derived with non-zero front steer and rear steer angles. Combined with the rear steering dynamics, the model predictive control (MPC) technique is applied for motion error minimization. This paper describes the theoretical part of the algorithm, and provides simulation results to show effectiveness of the algorithm. Future work will include vehicle implementation, testing, and evaluation.

Sign in / Sign up

Export Citation Format

Share Document