It is a difficult and important project to coordinate active front steering (AFS) and direct yaw moment control (DYC), which has great potential to improve vehicle dynamic stability. Moreover, the balance between driver’s operation and advanced technologies’ intervention is a critical problem. This paper proposes a human-machine-cooperative-driving controller (HMCDC) with a hierarchical structu...

This paper reports on the synthesis of different flight controllers for an X-Cell mini-helicopter. They are developed on the basis of the most realistic mathematical model currently available. Two hybrid intelligent control systems, combining computational intelligence methodologies with other control techniques, are investigated. For both systems, Mamdanitype fuzzy controllers determine the se...

In this paper, stabilizing control of tracked unmanned ground vehicle in 3-D space was presented. Firstly, models of major modules of tracked UGV were established. Next, to reveal the mechanism of disturbances applied on the UGV, two kinds of representative disturbances (slope and general disturbances in yaw motion) were discussed in depth. Consequently, an attempting PID method was employed to...

This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to uncertainties induced by model and environmental disturbances. First, an event-triggered extended-state observer (ETESO) used recover velocity, yaw rate uncertainties. Then, estimator estimate velocity leader. An controller (ETC) constru...

In this study, the altitude and yaw angle tracking is considered for a scale model helicopter, mounted on an experimental platform, in the presence of model uncertainties, which may be caused by unmodelled dynamics, or aerodynamical disturbances from the environment. To deal with the uncertainties, approximation-based techniques using neural network (NN) are proposed. In particular, two differe...

This paper is devoted to the development of a map matching algorithm for a train positioning system. Due to the nonsteerable truck design associated with rail vehicles, rail track curvatures are reasonably small. Consequently, track signatures, such as curves, are difficult to identify using low-cost sensors. The algorithm proposed in this work takes full advantage of the inherited “one-dimensi...