scholarly journals AUXILIARY FUNCTION GRADIENT APPROACH TO MARINE VEHICLE PATH-FOLLOWING CONTROL

2020 ◽  
pp. 27-36
Author(s):  
Alexander A. Dyda ◽  
Ksenya N. Chumakova ◽  
Igor I. Pushkarev
Keyword(s):  
Main Idea ◽  
Path Following ◽  
Auxiliary Function ◽  
Smooth Functions ◽  
Auxiliary Functions ◽  
Path Following Control ◽  
Vehicle Path ◽  
The Given ◽  
Gradient Approach ◽  
Marine Vehicle

This paper develops an approach to solving the problem of controlling the movement of a ship along a route. It is assumed that the route is specified using waypoints connected by line segments. The main idea of ​​the developed approach is to construct a set of auxiliary smooth functions having an extremum (maximum) on the corresponding sections of the route. The gradient vectors of the selected auxiliary functions are directed towards the corresponding section of the vessel's route. The sum of the vectors of the gradient of the auxiliary functions and the vector that specifies the direction on the selected section of the route determines the desired course of the vessel movement. It is shown that the chosen constructing algorithm for the desired vessel course ensures its output to the given trajectory.

Yaw-rate-tracking-based Automated Vehicle Path Following: An MRAC Methodology with A Closed-Loop Reference Model

2021 ◽  
pp. 1-17
Author(s):  
Xingyu Zhou ◽  
Zejiang Wang ◽  
Heran Shen ◽  
Junmin Wang
Keyword(s):  
Closed Loop ◽  
Reference Model ◽  
Path Following ◽  
Control Law ◽  
Hardware In The Loop ◽  
Control Loops ◽  
Path Following Control ◽  
Speed Up ◽  
Vehicle Path ◽  
Model Reference Adaptive

Abstract Concerning automated vehicles, various path-following controllers have been designed by the model reference adaptive control (MRAC) approach. Through appropriate Lyapunov redesigns, asymptotical stability and signal boundedness are ensured for the path-tracking control loops. However, transient behaviors of the closed-loop responses are seldom considered in the context of MRAC synthesis. To bridge the foregoing gap, a closed-loop reference model-based MRAC, which yields an improved transient performance compared with a traditional MRAC, is exploited to synthesize a vehicular path following control law. Besides, an infinitely differentiable projection operator is complemented to the control parameters' adaptation schemes for estimation speed-up and robustness enhancement. Hardware-in-the loop experiments are used to evaluate the proposed method and to demonstrate its improvement over some conventional MRAC designs.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Path Following ◽  
Coordinate Space ◽  
Vehicle Model ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
And Control

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Vehicle path following control in the presence of driver inputs

2013 ◽  
Vol 227 (2) ◽  
pp. 115-132 ◽  
Author(s):  
Behrooz Mashadi ◽  
Mehdi Mahmoodi-K ◽  
Amir H Kakaee ◽  
Rana Hosseini
Keyword(s):  
Path Following ◽  
Path Following Control ◽  
Vehicle Path

scholarly journals Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141987180
Author(s):  
Zhang Lei ◽  
Sun Yushan ◽  
Zhuang Jiayuan ◽  
Wang Bo
Keyword(s):  
Control System ◽  
Path Following ◽  
Coefficient Matrix ◽  
Ocean Current ◽  
Line Of Sight ◽  
Damping Coefficients ◽  
Virtual Control ◽  
Path Following Control ◽  
Coupling Terms ◽  
Marine Vehicle

Path following control system of an underactuated unmanned marine vehicle is an important guarantee for its successful operation, the path following control problem of an underactuated and asymmetrical unmanned marine vehicle sailing in the presence of ocean current disturbances is addressed. Asymmetry of the unmanned marine vehicle model and higher order velocity coupling terms of damping coefficients of the unmanned marine vehicle are discussed, which would improve the accuracy of the path following control system. A kind of global differential homeomorphism transformation design is proposed to solve the difficulty of nonzero term appearing in the non-diagonal elements of the system inertia coefficient matrix and damping coefficient matrix, which is caused by the model asymmetry of unmanned marine vehicle. An improved line-of-sight guidance algorithm is presented by introducing longitudinal position error and tracking error weight factor into traditional line-of-sight algorithm, which could speed up the path following process, meanwhile the method could be extended to the application of curve path following. Virtual velocity in the tangent direction of the path to be followed is designed for the control system, by increasing a virtual control input, the underactuated control system is simplified, and the higher order velocity coupling terms of damping coefficients are integrated considered in the virtual control law. Stability of the path following control algorithm proposed for unmanned marine vehicle is proved by Lyapunov theory, and some simulation experiments are carried out to verify the effectiveness of the path following control system designed.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Further Studies on Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-25
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Motion Control ◽  
Deep Level ◽  
Dynamic Environment ◽  
Path Following ◽  
Complex Problem ◽  
Level Control ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
Vehicle Dynamic Model

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

Marine Vehicle Path Following Using Inner-Outer Loop Control

2009 ◽  
Vol 42 (18) ◽  
pp. 38-43 ◽  
Author(s):  
P. Maurya ◽  
A. Pedro Aguiar ◽  
A. Pascoal
Keyword(s):  
Path Following ◽  
Outer Loop ◽  
Loop Control ◽  
Vehicle Path ◽  
Marine Vehicle

Development Financing under Constraints: A Decade of African Development Bank. By Ime Ekop Ebong. Bonn-Bad Godesberg: Verlag Neue Sesellschaft GmbH. 1974. 172 pp.(special Issue No. 8 of the Vierteljahresberichte.)

1975 ◽  
Vol 14 (1) ◽  
pp. 149-152
Author(s):  
M.A. Behzad
Keyword(s):  
Main Idea ◽  
Development Projects ◽  
Development Bank ◽  
Special Issue ◽  
Investment Bank ◽  
African Development ◽  
Know How ◽  
African Development Bank ◽  
Basic Infrastructure ◽  
The Given

Development Financing under Constraints, as the author himself puts it, is 'aimed to recapitulate the spirit in which the African Development Bank was founded, describe how it later functioned and why it functioned the way it did'. The study is an excellent attempt to highlight economic cooperation and integ¬ration and to discuss its rationale in view of the given constraints. The main idea behind the establishment of an institution, like the African Develop¬ment Bank (ADB), was necessarily an 'all-African Investment Bank' to promote development projects. The newly independent nations of Africa, lacking as they are in the basic infrastructure, are beset with difficulties in surviving as economically viable units. As such, the need for a pooling of resources and for technical know-how is particularly imperative

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