Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

A Vehicle Following Controller for Highly-Actuated Vehicles

This work is concerned with the design and validation of a vehicle following controller (VFC). The goal of the VFC is to determine appropriate control actions for a highly-actuated electric vehicle such that the longitudinal and lateral motion of a target vehicle is followed. To achieve this goal, a combination of a non-linear guidance law and a model-predictive method is explored. The proposed...

Robust Hybrid Control for Autonomous Vehicle Motion Planning

The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in they operational environment. A possible approach to reduce the computational complexity of the motion planning problem for a nonlinear, high dimensional system, is based on ...

Underactuated Vehicle Control - Motion Planning with Obstacles and Multiple Vehicles