The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when conventional fixed-base controllers, which neglect these interactions, are used. An extended jacobian transpose control algorithm is developed, which accounts for dynamic vehicle motions caused by manipulator motions. It is shown to perform well, even in the presence of modeling erro...

Aimed at the flight control problem of a near-space vehicle (NSV) with uncertainties such as parameter perturbation and external disturbance, novel dynamic surface (DSC) method high-order linear extended state observer (HLESO) compensation is proposed in this paper. In method, tracking differentiator (TD) based on an inverse hyperbolic sine function firstly designed, convergence TD also analyse...

non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. in this paper, an optimal linear quadratic regulator (lqr) controller for roll-yaw dynamics to articulated heavy vehicles is developed. for this purpose, the equations of motion obtained by the matlab softwar...

Results are presented from a preliminary study to determine the potential benefits of utilizing dynamic inversion inspired by a structural analogy for formation control of a system of vehicles. Vehicles are modeled as unconstrained mass particles under the influence of control forces in an inertial reference frame. For a system of particles restricted to motion in one dimension only, equations ...

MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed in the continuous-time domain and captures the real dynamics of the sub-vehicle models for steady-state and transient operations. A parametric study for the ...

The increasing interest in autonomous marine systems and related applications has motivated, among others, the development of systems and algorithms for the dynamic positioning of underactuated marine vehicles (ships, surface vessels, underwater vehicles) under the influence of unknown environmental disturbances. In this paper we present a state feedback control solution for the navigation and ...

In this paper, a new intelligent scheduling algorithm, which can improve the network utilization rate, had been present based on analyzing the vehicle CAN bus network schedulability in the vehicle CAN bus electrical control system. Through the mathematical modeling of the vehicle CAN bus network control system, simulation modeling of the 3-loop CAN bus system and computer simulation research ba...

Results are presented of an experimental study of a recently developed motion control algorithm for mobile manipulators. First, the dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. Then the mobile manipulator control algorithm, which accounts for dynamic ...