scholarly journals Controller Design Using Backstepping Algorithm for Fixed-Wing UAV with Thrust Vectoring System

2020 ◽  
Vol 5 (3) ◽  
pp. 284-290
Author(s):  
Shogo Hirano ◽  
Kenji Uchiyama ◽  
Kai Masuda
Keyword(s):  
Controller Design ◽  
Thrust Vectoring ◽  
Backstepping Algorithm

scholarly journals A study on tracking controller design for unmanned surface vehicles using magnetic coupling thruster

2017 ◽  
Vol 20 (K5) ◽  
pp. 64-72
Author(s):  
Huy Ngoc Tran ◽  
Thanh Nguyen Nhut Pham ◽  
Bao Hong Thai Vo
Keyword(s):  
Controller Design ◽  
Magnetic Coupling ◽  
Line Of Sight ◽  
Guidance Control ◽  
Unmanned Surface Vehicles ◽  
Survey Quality ◽  
The World ◽  
Heading Angle ◽  
Backstepping Controller ◽  
Backstepping Algorithm

Controlling the unmanned surface vehicles to follow the object or define trajectory have many important applications in the field as military, survey quality environment so this problem has been much research on the world. This report represents the method to control the unmanned surface vehicles which use thruster with coupling follow square or zig-zag trajectories using the Line of Sight (LOS) algorithm combined with the Backstepping Controller. The system consists of three main blocks, Guidance - Control - Ship. Guidance will help to select waypoints to create the trajectory the use the LOS algorithm with lookahead distance to adjust and calculate the desired heading angle ψ. Control with the Backstepping algorithm will calculate the force and moment to apply to the dynamic model of the Ship. The position and heading angle of the vehicles will be feedback to the two Guidance-Control blocks for calculation and updating. The effectiveness of the algorithm will be presented in simulation results with MATLAB / SIMULINK

Adaptive Fuzzy Controller Design for Dynamic Positioning System

2014 ◽  
Vol 541-542 ◽  
pp. 1256-1259
Author(s):  
Yong Sheng Zhao ◽  
Yi Ming Bai ◽  
Wen Hui Wu
Keyword(s):  
Fuzzy Controller ◽  
Controller Design ◽  
Parametric Uncertainty ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Adaptive Fuzzy Controller ◽  
Dynamic Positioning System ◽  
Adaptive Fuzzy ◽  
Adaptive Law ◽  
Backstepping Algorithm

An adaptive fuzzy controller for dynamic positioning (DP) system is designed. The controller utilizes Backstepping algorithm as the adaptive law and uses a fuzzy system for approximating the disturbances and uncertainties. The proposed adaptive fuzzy controller is proven to be uniform bounded in the sense of Lyapunov. Simulation results show that DP vessel with the adaptive fuzzy controller would be more adaptive with environmental interference and ship parametric uncertainty.

Continuous Time Controller Design

IEE Review ◽  
1991 ◽  
Vol 37 (6) ◽  
pp. 228
Author(s):  
Stephen Barnett
Keyword(s):  
Continuous Time ◽  
Controller Design

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Mode-Based Controller Design for Hammerstein Models Using Closed-Loop Tranjent Response Data

2016 ◽  
Vol 136 (5) ◽  
pp. 625-632
Author(s):  
Yoshihiro Matsui ◽  
Hideki Ayano ◽  
Shiro Masuda ◽  
Kazushi Nakano
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Response Data ◽  
Hammerstein Models
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