Results 11 to 20 of about 10,574,592 (282)

Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles

Machines, 2019
Many challenges still need to be overcome in the context of autonomous vehicles. These vehicles would be over-actuated and are expected to perform coupled maneuvers.
Moad Kissai, Bruno Monsuez, Xavier Mouton, Didier Martinez, Adriana Tapus   +4 more
doaj   +3 more sources

Lateral Model Predictive Control for Over-Actuated Autonomous Vehicle

2017 IEEE Intelligent Vehicles Symposium (IV), 2017
In this paper, a lateral controller is proposed for an over-actuated vehicle. The controller is formulated as a linear time-varying model predictive controller. The aim of the controller is to track a desired path smoothly, by making use of the vehicle crabbing capability (sideways movement) and minimizing the magnitude of curvature used.
Goncalo Collares Pereira, Lars J. Svensson, Pedro F. Lima, Jonas Mårtensson 0001   +3 more
openaire   +4 more sources

Real-Time Path-tracking MPC for an Over-Actuated Autonomous Electric Vehicle [PDF]

2022 American Control Conference (ACC), 2022
This paper illustrates the development of a nonlinear constrained predictive path-tracking controller, including realistic vehicle dynamics and multiple actuator inputs and its implementation in real time on an experimental vehicle platform. The controller is formulated for a particular over-actuated vehicle equipped with Torque Vectoring (TV) as well ...
Lin, Chenhui, Siampis, Efstathios, Velenis, Efstathios   +2 more
openaire   +3 more sources

Multi-Objective Optimal Control Allocation for an Over-Actuated Electric Vehicle

IEEE Access, 2018
The in-wheel-motor-driven electric vehicle is a typical over-actuated system. The actuation flexibility can be utilized to improve operational efficiency and enhance vehicle motion control performance by allocating different torques to four wheels ...
Houhua Jing, Fengjiao Jia, Zhiyuan Liu
doaj   +2 more sources

Real-time HIL validation of a lyapunov-guaranteed optimal FOPID controller for quadrotor UAV trajectory tracking [PDF]

Scientific Reports
This paper presents the real-time Hardware-in-the-Loop (HIL) validation of a robust 6-Degree-of-Freedom (6-DoF) Fractional-Order Proportional-Integral-Derivative (FOPID) control architecture, optimally tuned via the Artificial Gorilla Troops Optimizer ...
Bassam Elbasueny, Mohamed M. El-Sotouhy, Ehab Said, Ibrahim Elsherif, Mohamed A. Kamel   +4 more
doaj   +2 more sources

Energy Planning for Unmanned Over-Actuated Road Vehicle [PDF]

2018 IEEE Vehicle Power and Propulsion Conference (VPPC), 2018
Energy planning for unmanned road vehicles (URV)s is an important step for the management of the autonomous driving. This energy planning depends on the model for power consumption estimation related to URVs. Generally URVs are over-actuated, and this property leads to multiple kinematic configurations for driving.
Bensekrane, Ismail, Kumar, Pushpendra, Melingui, Achille, Coelen, Vincent, Amara, Yacine, Merzouki, Rochdi   +5 more
openaire   +3 more sources

Learning-Based Path Following Control for an Over-Actuated Robotic Vehicle [PDF]

, 2019
Motion control, in particular path following control (PFC), is an important function of autonomous vehicles. PFC controls the propulsion, steering and braking such that the vehicle follows a parametric path and reference velocity. For the design of traditional model-based PFC approaches a sufficiently accurate synthesis model of the vehicle has to be ...
Ultsch, Johannes, Brembeck, Jonathan, de Castro, Ricardo   +2 more
openaire   +3 more sources

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control [PDF]

Sensors
This paper focuses on the modeling, control, and simulation of an over-actuated hexacopter tilt-rotor (HTR). This configuration implies that two of the six actuators are independently tilted using servomotors, which provide high maneuverability and ...
Gabriel Oliveira Pimentel, Murillo Ferreira dos Santos, José Lima, Paolo Mercorelli, Fernanda Mara Fernandes   +4 more
doaj   +2 more sources

DELPHIN2: AN OVER ACTUATED AUTONOMOUS UNDERWATER VEHICLE FOR MANOEUVRING RESEARCH [PDF]

International Journal of Maritime Engineering, 2021
Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture.
Philips, A.B., Steenson, L.V., Rogers, E, Turnock, S.R., Harris, C.A., Furlong, M.   +5 more
openaire   +4 more sources

Robust Control for Over-Actuated Vehicles [PDF]

2019 IEEE Conference on Control Technology and Applications (CCTA), 2019
Many car manufacturers are equipping their vehicles with advanced systems to win the race towards autonomous vehicles. In order to ensure multiple objectives, different embedded systems influencing differently the same physical variable are often implemented in the same vehicle.
Moad Kissai, Bruno Monsuez, Didier Martinez, Xavier Mouton, Adriana Tapus   +4 more
openaire   +1 more source