Adaptive robust dissipative designs on straight path control for underactuated ships

An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting closed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG’ are presented to validate the effectiveness of the algorithm.

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

A 4H-SiC trench IGBT with controllable hole-extracting path for low loss

A novel 4H-Si C trench insulated gate bipolar transistor(IGBT)with a controllable hole-extracting(CHE)path is proposed and investigated in this paper.The CHE path is controlled by metal semiconductor gate(MES gate)and metal oxide semiconductor gate(MOS gate)in the p-shield region.The grounded p-shield region can significantly suppress the high electric field around gate oxide in Si C devices,but it weakens the conductivity modulation in the Si C trench IGBT by rapidly sweeping out holes.This effect can be eliminated by introducing the CHE path.The CHE path is pinched off by the high gate bias voltage at on-state to maintain high conductivity modulation and obtain a comparatively low on-state voltage(VON).During the turn-off transient,the CHE path is formed,which contributes to a decreased turn-off loss(EOFF).Based on numerical simulation,the EOFFof the proposed IGBT is reduced by 89%compared with the conventional IGBT at the same VONand the VONof the proposed IGBT is reduced by 50%compared to the grounded p-shield IGBT at the same EOFF.In addition,the average power reduction for the proposed device can be 51.0%to 81.7%and 58.2%to 72.1%with its counterparts at a wide frequency range of 500 Hz to 10 k Hz,revealing a great improvement of frequency characteristics.

Model Algorithm Research on Cooling Path Control of Hot-rolled Dual-phase Steel

With the development of advanced high strength steel,especially for dual-phase steel,the model algorithm for cooling control after hot rolling has to achieve the targeted coiling temperature control at the location of downcoiler whilst maintaining the cooling path control based on strip microstructure along the whole cooling section.A cooling path control algorithm was proposed for the laminar cooling process as a solution to practical difficulties associated with the realization of the thermal cycle during cooling process.The heat conduction equation coupled with the carbon diffusion equation with moving boundary was employed in order to simulate temperature change and phase transformation kinetics,making it possible to observe the temperature field and the phase fraction of the strip in real time.On this basis,an optimization method was utilized for valve settings to ensure the minimum deviations between the predicted and actual cooling path of the strip,taking into account the constraints of the cooling equipment′s specific capacity,cooling line length,etc.Results showed that the model algorithm was able to achieve the online cooling path control for dual-phase steel.

Path tracking control of autonomous agricultural mobile robots

In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

Following Control for a UUV using Temporary Path Generation Guidance

一个路径追随者控制算法为一无人在水下用暂时的路径产生指导的车辆(UUV ) 在这份报纸被建议。由于车辆的不同起始的状态，例如位置和取向，在水平飞机的路径追随者控制可以产出差的表演。为了处理否定效果，由起始的状态导致了，暂时的路径代基于在原来的参考书路径和车辆之间的关系被介绍起始的状态。与在车辆和参考书路径之间的不同相对位置，从直线，以及里面并且在一个圆外面包括，指导车辆到参考书路径的相关暂时的路径能在实时被产生。车辆被指导驾驶暂时的路径直到它在参考书路径到达了正切点，在控制器用输入产量反馈 linearization 方法被设计的地方。模拟结果证明建议算法在上面提及的三种不同状况下面是有效的。

Virtual Simulation System with Path-following Control for Lunar Rovers Moving on Rough Terrain

Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase,as well as the design of locomotion systems,performance evaluation,and control strategy verification during the R&D phase.The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics,difficulty in simulating rough terrains,and high complexity making it difficult to realize mobility control in simulation systems.This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling,wheel-soil interaction mechanics,dynamics analysis,mobility control,and visualization for lunar rovers.Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0,0.03,0.05,0.1,0.2,0.3,0.4,and 0.6.The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module.In addition,the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics,and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS.The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS.Finally,a virtual simulation system for lunar rovers is developed.A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched.The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS.The designed virtual lunar rover could follow the planned path on a rough terrain.This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.

Path-tracking Control of a Tractor-aircraft System

一台飞机拖拉机作为一种重要海洋的运输和支持设备起一个重要作用。它的对学习必要它改进操作效率的控制并且调遣的稳定性。拖拉机飞机系统的一个虚拟原型模型在这份报纸基于有 Lagrange mutipliers 的第一种类型的 Lagranges 方程被建立。根据拖引的特征，用模糊逻辑理论的一个追踪路径的控制器被设计。方向控制此处通过一条补偿追踪途径被执行。交互合作模拟被执行验证追踪路径的行为在靠近环。模拟结果显示拖拉机在扁平的地面上精确跟随了参考书功课。

Local Path Planning and Tracking Control of Vehicle Collision Avoidance System

Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.

Path following control of underactuated ships based on nonswitch analytic model predictive control

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity

This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.

Development of tool-path generation module for 5-axis control machining of impellers

An impeller is difficult to machine because of severe collision due to the complex shape,overlapping and twisted shape of the impeller blades.So,most computer aided manufacturing(CAM)software companies have developed CAM module for manufacturing impeller according to their CAM software.But these dedicated modules are difficult to use for inexperienced users.The purpose of this work is to develop a tool-path generation module for impellers.For this purpose,it is based on Visual Basic language and used CATIA graphical environment.The result of simulation for generated tool-path by the module is satisfactory.And it has slow processing speed compared to other commercial modules,but it is easy to use.

Sliding-mode control of path following for underactuated ships based on high gain observer

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.

DYNAMIC RESOURCE CONTROL OF THE VIRTUAL PATH IN ATM NETWORKS

Virtual path concept has several valuable features to re construct an economical and efficient ATM network.The most important effect of VPs is to afford transmission efficiently through the dynamic control of VPs resource including buffer and bandwidth.This paper described the problem of dynamic resource control of VP in ATM networks.Based on a discrete event dynamic model of resource control of VP in ATM networks,the optimal control law of resource allocation of VP in ATM networks with the method of dynamic programming was presented.The results of the theorem proof and simulation show that the dynamic control is more efficient to reduce the calls block rate comparing with the static allocation.

Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

This paper is concerned with the robust control synthesis of autonomous underwater vehicle(AUV) for general path following maneuvers.First,we present maneuvering kinematics and vehicle dynamics in a unified framework.Based on H∞ loop-shaping procedure,the 2-DOF autopilot controller has been presented to enhance stability and path tracking.By use of model reduction,the high-order control system is reduced to one with reasonable order,and further the scaled low-order controller has been analyzed in both the frequency and the time domains.Finally,it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.

Inverse Optimal Control for Speed-varying Path Following of Marine Vessels with Actuator Dynamics

A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.

Path tracking for vehicle parallel parking based on ADRC controller

A novel path tracking controller for parallel parking based on active disturbance rejection control(ADRC)was presented in this paper.A second order ADRC controller was used to solve the path tracking robustness,which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay.Collision-free path planning technology was adopted to generate the reference path.The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller.The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances.

Legal Control Paths for Corruption of China's Rural Cadres

The corruption problem of China's rural cadres has exposed the weakness of the absence of legal control in rural administration. In the face of the problems in the legal control of corruption in rural cadres,it is required to improve the laws and regulations,strengthen law enforcement,and strengthen the supervision and guidance of higher-level party committee and governments to bring the corruption of rural cadres into the rule of law.

A Measure Theoretical Approach for Path Planning Problem of Nonlinear Control Systems

This paper presents a new approach to find an approximate solution for the nonlinear path planning problem. In this approach, first by defining a new formulation in the calculus of variations, an optimal control problem, equivalent to the original problem, is obtained. Then, a metamorphosis is performed in the space of problem by defining an injection from the set of admissible trajectory-control pairs in this space into the space of positive Radon measures. Using properties of Radon measures, the problem is changed to a measure-theo- retical optimization problem. This problem is an infinite dimensional linear programming (LP), which is approximated by a finite dimensional LP. The solution of this LP is used to construct an approximate solution for the original path planning problem. Finally, a numerical example is included to verify the effectiveness of the proposed approach.

Intelligent PID guidance control for AUV path tracking

Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.