Formation control of multiple vehicles using dynamic surface control and hybrid systems
نویسندگان
چکیده
This paper deals with the formation control of multiple vehicles, using a combination of dynamic surface sliding control and hybrid systems. Each vehicle must perform several manoeuvres, either independently, or in a coordinated fashion as part of a vehicle formation. A dynamic surface controller is designed for each manoeuvre. Switches between manoeuvres and communication protocols between vehicles are represented using hybrid systems formalisms. Here, we present the design of both independent and coordinated dynamic positioning (DP) controllers for ocean vehicles using dynamic surface control. Independent and coordinated dynamic positioning are manoeuvres that the modules forming a floating runway at sea must perform. Experimental results using scaled modules are shown.
منابع مشابه
An Optimal Dynamic Control Method for an Isolated Intersection Using Fuzzy Systems
Traffic flow systems are nonlinear and uncertain, so it is very difficult to find their optimal points. In traditional traffic control systems, the traffic lights of crossings change in a fixed time period that is not optimal. On the other hand, most proposed systems are sufficiently capable of coping with the uncertainties of traffic flow. To solve this problem, there is a need to develop expe...
متن کاملA New Framework for Advancement of Power Management Strategies in Hybrid Electric Vehicles
Power management strategies play a key role in the design process of hybrid electric vehicles. Electric Assist Control Strategy (EACS) is one of the popular power management strategies for hybrid electric vehicles (HEVs). The present investigation proposes a new framework to advance the EACS. Dynamic Programming method is applied to an HEV model in several drive cycles, and as a result, some op...
متن کاملOptimal power management of fuel cell hybrid vehicles
This paper presents a control strategy developed for optimizing the power flow in a Fuel Cell Hybrid Vehicle structure. This method implements an on-line power management based on the optimal fuzzy controller between dual power sources that consist of a battery bank and a Fuel Cell (FC). The power management strategy in the hybrid control structure is crucial for balancing between efficiency an...
متن کاملThe Optimal Steering Control System using Imperialist Competitive Algorithm on Vehicles with Steer-by-Wire System
Steer-by-wire is the electrical steering systems on vehicles that are expected with the development of an optimal control system can improve the dynamic performance of the vehicle. This paper aims to optimize the control systems, namely Fuzzy Logic Control (FLC) and the Proportional, Integral and Derivative (PID) control on the vehicle steering system using Imperialist Competitive Algorithm (IC...
متن کاملA New Hybrid Parallel Simulated Annealing Algorithm for Travelling Salesman Problem with Multiple Transporters
In today’s competitive transportation systems, passengers search to find traveling agencies that are able to serve them efficiently considering both traveling time and transportation costs. In this paper, we present a new model for the traveling salesman problem with multiple transporters (TSPMT). In the proposed model, which is more applicable than the traditional versions, each city has diffe...
متن کامل