Lateral control of a convoy of vehicles with a limited preview information

INFLUENCE OF LATERAL CONTROL SYSTEM ON TRANSPORT AIRCRAFT SPIN

TsAGI Science Journal ◽

10.1615/tsagiscij.2018026767 ◽

2018 ◽

Vol 49 (1) ◽

pp. 77-92

Author(s):

Diana Aleksandrovna Alieva ◽

Maria Evguenievna Sidoryuk ◽

Alexander Nikolaevich Khrabrov

Keyword(s):

Control System ◽

Lateral Control ◽

Transport Aircraft

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Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

The Aeronautical Journal ◽

10.1017/aer.2021.26 ◽

2021 ◽

pp. 1-30

Author(s):

A. Guo ◽

Z. Zhou ◽

R. Wang ◽

X. Zhao ◽

X. Zhu

Keyword(s):

Vector Field ◽

Path Following ◽

Endurance Performance ◽

Electrical Energy ◽

Lateral Control ◽

Special Configuration ◽

Straight Line ◽

Lateral Distance ◽

Solar Powered ◽

Line Path

Abstract The full-wing solar-powered UAV has a large aspect ratio, special configuration, and excellent aerodynamic performance. This UAV converts solar energy into electrical energy for level flight and storage to improve endurance performance. The UAV only uses a differential throttle for lateral control, and the insufficient control capability during crosswind landing results in a large lateral distance bias and leads to multiple landing failures. This paper analyzes 11 landing failures and finds that a large lateral distance bias at the beginning of the approach and the coupling of base and differential throttle control is the main reason for multiple landing failures. To improve the landing performance, a heading angle-based vector field (VF) method is applied to the straight-line and orbit paths following and two novel 3D Dubins landing paths are proposed to reduce the initial lateral control bias. The results show that the straight-line path simulation exhibits similar phenomenon with the practical failure; the single helical path has the highest lateral control accuracy; the left-arc to left-arc (L-L) path avoids the saturation of the differential throttle; and both paths effectively improve the probability of successful landing.

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Gain-Scheduled Robust Recursive Lateral Control for Autonomous Ground Vehicles Subject to Polytopic Uncertainties

2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE) ◽

10.1109/lars/sbr/wre51543.2020.9307158 ◽

2020 ◽

Author(s):

Jose Nuno A. D. Bueno ◽

Kaio D. T. Rocha ◽

Marco H. Terra

Keyword(s):

Ground Vehicles ◽

Lateral Control ◽

Autonomous Ground Vehicles ◽

Polytopic Uncertainties ◽

Gain Scheduled

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Longitudinal and lateral collision avoidance control strategy for intelligent vehicles

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211024048 ◽

2021 ◽

pp. 095440702110240

Author(s):

Ziyu Zhang ◽

Chunyan Wang ◽

Wanzhong Zhao ◽

Jian Feng

Keyword(s):

Real Time ◽

Collision Avoidance ◽

Decentralized Control ◽

Control Strategy ◽

Centralized Control ◽

Lateral Control ◽

Time Performance ◽

Collision Avoidance Control ◽

Avoidance Control ◽

Control Accuracy

In order to solve the problems of longitudinal and lateral control coupling, low accuracy and poor real-time of existing control strategy in the process of active collision avoidance, a longitudinal and lateral collision avoidance control strategy of intelligent vehicle based on model predictive control is proposed in this paper. Firstly, the vehicle nonlinear coupling dynamics model is established. Secondly, considering the accuracy and real-time requirements of intelligent vehicle motion control in pedestrian crossing scene, and combining the advantages of centralized control and decentralized control, an integrated unidirectional decoupling compensation motion control strategy is proposed. The proposed strategy uses two pairs of unidirectional decoupling compensation controllers to realize the mutual integration and decoupling in both longitudinal and lateral directions. Compared with centralized control, it simplifies the design of controller, retains the advantages of centralized control, and improves the real-time performance of control. Compared with the decentralized control, it considers the influence of longitudinal and lateral control, retains the advantages of decentralized control, and improves the control accuracy. Finally, the proposed control strategy is simulated and analyzed in six working conditions, and compared with the existing control strategy. The results show that the proposed control strategy is obviously better than the existing control strategy in terms of control accuracy and real-time performance, and can effectively improve vehicle safety and stability.

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