This paper addresses the observability properties of a 3D autonomous underwater vehicle (AUV) model in the presence of ocean currents, under the assumption that the vehicle can only measure its distance to a fixed transponder using an acoustic ranging device. In the set-up adopted, the AUV may undergo a wide range of maneuvers that are usually described as trimming trajectories. The latter are ...

p This paper investigates the minimum number of sensors required to adequately control a forebody vortex flow control system psf for the X-29A aircraft using fuzzy logic p control. A previously designed fuzzy logic r controller which used full state feedback consisting of side-slip angle, yaw rate, roll V rate and bank angle sensors is modified to use VFC only yaw rate and roll rate sensors. Re...

The purpose of this study was to determine the effects of the semicircular canals and otolith organs on respiration in humans. On the basis of animal studies, we hypothesized that vestibular activation would elicit a vestibulorespiratory reflex. To test this hypothesis, respiratory measures, arterial blood pressure, and heart rate were measured during engagement of semicircular canals and/or ot...

We investigated effects of roll (rotation around line of sight) and pitch (rotation around the horizontal axis) components of retinal flow on heading judgement from visual motion information. It was found that performance level of human observers for yaw (rotation around the vertical axis) plus pitch is little different from that for only yaw although there is bias in perceived heading toward t...

A robust yaw stability control system is designed to stabilize the vehicle yaw motion. Since the vehicles undergo changes in parameters and disturbances with respect to the wide range of driving condition, e.g., tire-road conditions, a robust control design technique is required to guarantee system stability. In this paper, a sliding mode control methodology is applied to make vehicle yaw rate ...

In this paper a steering controller is derived using robust unilateral decoupling control. By this method automatic car steering can be split into two subtasks: a) good lane tracking of a point mass for stepwise change of the curvature of the lane reference and for lateral force disturbances and b) good yaw stabilization in the presence of yaw torque disturbances. In the design process the trac...

A novel vehicle stability control method integrated direct yaw moment control (DYC) with active front steering (AFS) is presented in this paper. By the phase plane of sideslip angle and sideslip angular velocity, vehicle stable region is determined. When the vehicle is outside the stable region, DYC controller is firstly used to produce proper direct yaw moment, which can make the vehicle back ...

This paper describes a semi-global exponentially stable output feedback control law for automatic heading control of ships described by a nonlinear model. Only compass (yaw angle) feedback is used. The yaw rate signal is reconstructed by a linear observer. A wave lter is included in the observer to reduce wear and tear on the rudder servo due to 1st-order wave-induced disturbances. Integral act...

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...

Combined with a linear two degrees of freedom vehicle model, a kind of new integrated feedback control strategy, which is on the basis of weighting factors of the realtime yaw rate and the lateral acceleration, is put forwards in this paper. An ideal variable steering ratio strategy is developed and the corresponding controller is also designed. By the computer-simulation technique, the double ...