Nonholonomic control is a candidate to nonlinear systems with path-dependant states. We investigate an underactuated flying micro-aerial-vehicle, the ionocraft, that requires nonholonomic in yaw-direction for complete attitude control. Deploying analytical law involves substantial engineering design and sensitive inaccuracy system model. With specific assumptions on assembly dynamics, we derive...

This article is aimed at describing a technique to compensate undesired yaw moment, which is inevitably induced about the support foot during single support phases while a bipedal robot is in motion. The main strategy in this method is to rotate the upper body in a way to exert a secondary moment that counteracts to the factors which create the undesired moment. In order to compute the yaw mome...

The aim of this paper is to control the lateral and yaw motion of the vehicle in order to always fix at the desired trajectory. The controller used was fuzzy logic control (FLC) for lateral motion control and PID control is used to control the yaw motion arranged cascade. To obtain optimal control parameters is used Firefly Algorithm (FA) optimization method as one of the methods swarm intellig...

We develop a decentralized hybrid controller for fixed-wing UAVs assisting a manned helicopter in a United States Coast Guard search and rescue mission. The UAVs assist the manned helicopter by providing an expanded sensor footprint using onboard cameras. We consider two UAVs, one flying on either side of the helicopter, with constant velocity and maximum turn rate constraints. Tracking the hel...

This paper introduces the basic control methods of a Biomimetic Underwater Vehicle, and a neural network model is designed for the vehicle. The concerned vehicle is propelled by two undulating long-fins installed on both sides. Ten motors are employed to drive the long-fin and sine wave function is employed for motor control. The real-time control system is designed for controlling the long-fin...

Abstract: Many vehicle control systems are based on the yaw rate error to help the driver during oversteer and understeer conditions. The control systems usually operate on brake pressures distributions such as ESP and/or on active front and rear steering control. Recently many papers are focused on the design of integrated global chassis control systems. The main contribution of this paper is ...

Abstract—In this paper we extend the Park and Jensen wake model to include the effects of yaw misalignment and wake deflection of wind turbines. We perform a numerical study to find the optimal values of induction factor and yaw misalignment angle of wind turbines in a single row of a windfarm for achieving the maximum total power with wake effects. Our study shows that the maximum power is ach...

With the aim of detecting the attitude of a rotating carrier, the paper presents a novel, digital angular rate sensor. The sensor consists of micro-sensing elements (gyroscope and accelerometer), signal processing circuit and micro-processor (DSP2812). The sensor has the feature of detecting three angular rates of a rotating carrier at the same time. The key techniques of the sensor, including ...

Accurate measurements from sensors measuring the vehicle’s lateral behavior are vital in todays vehicle dynamic control systems such as the Electronic Stability Program (ESP). This thesis concerns accurate plausibilisation of two of these sensors, namely the yaw rate sensor and the lateral acceleration sensor. The estimation is based on Kalman filtering and culminates in the use of a 2 degree-o...