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 ...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.展开更多
Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effective...Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effectively improve the driving safety of vehicle.This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering,which mainly consists of a path planner and a robust tracking controller.A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm,which plans an evasive trajectory to bypass the obstacle and avoid crashes.The dynamic models of the AFS system,vehicle as well as the driver model are established,and based on these,a robust tracking controller is proposed,which controls the system to resist external disturbances and work in accordance with the planning trajectory.The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform.The simulation results show that it can effectively track the planning trajectory,and improve the steering stability and anti-interference performance of the vehicle.展开更多
基金Projects(61004008,51509055)supported by the National Natural Science Foundation of ChinaProject(61422230302162223013)supported by the Laboratory of Science and Technology on Water Jet Propulsion,China
文摘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.
基金supported by the Research Project of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology)Ministry of Education(Grant No.2015KLMT04)the National Natural Science Foundation of China(Grant No.51375007 and 51605219)
文摘Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effectively improve the driving safety of vehicle.This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering,which mainly consists of a path planner and a robust tracking controller.A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm,which plans an evasive trajectory to bypass the obstacle and avoid crashes.The dynamic models of the AFS system,vehicle as well as the driver model are established,and based on these,a robust tracking controller is proposed,which controls the system to resist external disturbances and work in accordance with the planning trajectory.The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform.The simulation results show that it can effectively track the planning trajectory,and improve the steering stability and anti-interference performance of the vehicle.
