期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles
1
作者 Zirui Chen Jingchuan Tang Zongyu Zuo 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第6期1476-1484,共9页
The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlle... The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach. 展开更多
关键词 Guiding vector field non-holonomic vehicle path following prescribed performance sliding mode control
下载PDF
Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds
2
作者 Hao LU Lan GAO +2 位作者 Yunda YAN Mingzhe HOU Chenliang WANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2024年第2期431-445,共15页
Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight path.To cope with various wind conditions,this paper proposes a wind disturbance compensated path following... Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight path.To cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the inner-loop.Since the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal components.Moreover,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector field.High-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds. 展开更多
关键词 Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部