Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle

Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes challenging.In this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time control(IDFLOS-FC)scheme is presented for path following of sailboats.The salient features of the proposed IDFLOS-FC scheme are as follows:(1)Considering the problem of actuator failure,an actuator failure model is introduced into the dynamics model of a sailboat.(2)The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers(DFSOs),which reduces the error in line-of-sight(LOS)guidance.(3)A radial basis function(RBF)neural network is used to fit the uncertainty of the model,and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory,so that the controller has accurate tracking and interference suppression.(4)According to the Lyapunov method,the system is finite-time stable.Finally,simulation was used to validate the effectiveness of the method.

Vehicle Dynamic State Estimation： State of the Art Schemes and Perspectives

Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.

State Estimation of the Electric Drive Articulated Dump Truck Based on UKF

The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck and nonlinear characteristics of moving vehicles,nonlinear observer of vehicle status is designed to strength robustness of dynamic control system in this paper. A 4-degree-of-freedom nonlinear dynamic model of articulated electric drive vehicle is built as reference model to estimate the state of the articulated vehicle. And by adopting Unscented Kalman Filter( UKF) algorithm,a series of state parameters such as longitudinal velocities of front and rear frames,yaw rate and side-slip angle are estimated. During the test of 60 t articulated electric drive vehicle,2 inertial navigation modules are installed in the front frame and rear frame respectively and the speed of each electric drive wheel is obtained simultaneously. As the test results suggest,in various working conditions,the algorithm based on UKF is able to accurately estimate the state parameters of articulated vehicle with the estimated error less than 5%. The proposed method is justified to be the theoretical basis and application guidance for articulated vehicle stability control.

Performance of wavecatcher intakes at angles of attack and sideslip

A wavecatcher type scramjet intake,that reduces the Mach number number from 4 to 1.552,is used as the basis for a study of flow starting/unstarting as affected by freestream angles of attack and sideslip.The intake design is based on a morphed streamtube consisting of two conical flow streamlines using streamline tracing and osculating axisymmetric design theory.Intake flow and performance is modeled using the numerical CFD code and the k-e turbulence model.The intake unstarts at a sideslip angle of 2,a positive angle of attack of 1.Both positive angle of attack and sideslip angle have an adverse effect on the startability of the MBus intake.At negative angles,the intake initially unstarts at5angle of attack,due to the thickened shear layer induced by the streamwise vortex.Then it re-starts at8angle of attack,mainly due to the expansion fan formed at the leading edge,causing the shock wave structures inside the intake to be reestablished.

ACTIVE FRONT STEERING DURING BRAKING PROCESS

An active front steering （AFS） intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated with vehicle model. Then the AFS control on vehicle handling dynamics during braking is designed. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation. Thereafter, the controller with the feedback of both sideslip and yaw angle is implemented. To evaluate the system control, the proposed AFS controlled vehicle has been tested in the Hardware-in-the-loop-simulation （HILS） system and compared with that of conventional vehicle. Results show that AFS can improve vehicle lateral stability effectively without reducing the braking performance.

Modified attitude pursuit guidance law for low-cost missiles using strap-down seekers

Attitude pursuit guidance law is suitable for low cost missiles.A strap-down seeker is used to achieve this guidance law.The additional angles of attack or sideslip caused by wind and by control system are considered as two disturbing factors which make attitude pursuit law impossible.Therefore,general attitude pursuit guidance law did not account for this two disturbing factors,because with those disturbing factors,it is difficult to apply.To solve the problem,the principle of strap-down seeker detecting target is investigated,the mathematical control model is established,then a modified attitude pursuit guidance law which employs the angular correction for those two disturbing factors is presented.It is proved that the modified attitude pursuit guidance law is appropriated to both in the presence of the additional angle of attack or sideslip via the simulations with the mathematical control model and Monte-Carlo method.