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Motion Control for Over-Actuated, Non-Affine Aerial Vehicles
2021Remotely piloted aircraft systems (RPASs) have turned out to be an indispensable asset for disaster relief forces. The fact that they possess the abilities to offer a fast scenario overview and to transport vital supplies makes them even more crucial.
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LPV Control Design for Over-Actuated Hypersonic Vehicles Models
AIAA Guidance, Navigation, and Control Conference, 2009A typical control objective for a hypersonic vehicle model is to track a velocity and altitude reference while maintaining physical feasibility of the control input and the state. The control design presented in this work relies on a linear parameter varying (LPV) model of the longitudinal dynamics and exploits the presence of redundant actuation to ...
David Sigthorsson +3 more
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RL-based path planning for an over-actuated floating vehicle under disturbances
Robotics and Autonomous Systems, 2018Abstract This paper investigates the use of reinforcement learning for the path planning of an autonomous triangular marine platform in unknown environments under various environmental disturbances. The marine platform is over-actuated, i.e. it has more control inputs than degrees of freedom.
Konstantinos Blekas, Kostas Vlachos
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Simultaneous Lateral Stability and Energy Efficiency Control of Over-Actuated Electric Vehicles
2018 Annual American Control Conference (ACC), 2018A hierarchical controller is proposed for simultaneous lateral stability and energy efficiency control of over-actuated electric vehicles (EVs), Particularly, the designed controller consists of an upper-level lateral stability controller and a lower-level torque control allocation (CA) controller.
Yan Ma +3 more
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Bond graph modeling of an over-actuated intelligent autonomous vehicle with decoupled steering wheel
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment.
Tarun Kumar Bera +3 more
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Active Disturbance Rejection Control for an Over-Actuated Vehicle on SO(3)
2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA), 2023Hui Zhou, Guojun Yuan, Kun Liu, Lei Ma
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Thruster control allocation for over-actuated, open-frame underwater vehicles
2006This chapter introduces a new hybrid approach associated with the thmster control allocation problem for over-actuated thruster-propelled open-frame underwater vehicles (UVs). The work presented herein is applicable to a wide class of control allocation problems, where the number of actuators is higher than the number of objectives.
E. Omerdic, G. N. Roberts
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Control and estimation of over-actuated vehicles
Mechatronics, 2015Hamid Reza Karimi +3 more
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