Article
Engineering, Aerospace
Yong Guo, Dawei Zhang, Ai-jun Li, Shenmin Song, Chang-qing Wang, Zongming Liu
Summary: A finite-time controller with safe constraints is designed for non-cooperative space autonomous rendezvous and docking using an artificial potential function. The approach uses an elliptic cissoid to establish the obstacle avoidance model and a sliding mode surface to address collision avoidance. The controller ensures the chaser spacecraft avoids colliding with space objects around the noncooperative target spacecraft, as well as large stationary physical attachments. The validity of the controller is confirmed through numerical simulations.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Engineering, Electrical & Electronic
Shaohua Cui, Yongjie Xue, Maolong Lv, Baozhen Yao, Bin Yu
Summary: This paper proposes a cooperative constrained control algorithm for autonomous vehicles (AVs) to reduce inter-vehicle spacing errors, avoid high acceleration, and prevent vehicle collisions. The algorithm considers input quantization and inter-vehicle collision avoidance, and constructs position trajectories of consecutive AVs as collision-free constraints.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Qinglei Hu, Biru Chi
Summary: This article investigates the problem of autonomous spacecraft rendezvous and docking under the presence of space obstacles, path constraints, and thrust limitations. A combination scheme of guidance and control is proposed using the explicit reference governor (ERG) framework to ensure system stabilization and constraints satisfaction. The artificial potential function (APF) method is employed to guide a collision-free trajectory and the constraints are satisfied by limiting the states within the safe invariant set. Furthermore, a simplified method is proposed to obtain the maximum bound of the Lyapunov-based invariant sets for input boundedness and collision avoidance. The convergence of the system under the potential field is proven through Lyapunov stability analysis. Numerical simulation results demonstrate the comprehensive validation and good performance of the proposed method.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Icaro Bezerra Viana, Husain Kanchwala, Kenan Ahiska, Nabil Aouf
Summary: This work addresses the cooperative trajectory-planning problem in a double lane change scenario for autonomous driving using distributed model predictive control. Two frameworks are developed to solve this problem: one approach introduces a collision cost function to achieve smooth and bounded collision functions, while the second method uses a hierarchical scheme with trajectory-planning and tracking controller units. Tests and evaluations are conducted using matlab-carsim co-simulation to compare the approaches for cooperative double lane change maneuver in a three-lane road with obstacles.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2021)
Article
Computer Science, Artificial Intelligence
Fatemeh Mohseni, Erik Frisk, Lars Nielsen
Summary: A cooperative control approach for autonomous vehicles is developed using distributed optimal control problem and nonlinear Model Predictive Control technique. The method allows construction of cost function for different traffic scenarios and ensures safety while preventing vehicles from deviating significantly from neighboring vehicles' expectations.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2021)
Article
Robotics
Cosmin Ginerica, Mihai Zaha, Florin Gogianu, Lucian Busoniu, Bogdan Trasnea, Sorin Grigorescu
Summary: The paper introduces ObserveNet Control as a vision-dynamics approach to the predictive control problem of autonomous vehicles, using a deep neural network and planner to predict future sensory data and compute safe vehicle trajectories. The method aims to learn the dynamics of the observed driving environment in a self-supervised manner, without manually specifying training labels.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Aerospace
Xiaoyu Zhu, Junli Chen, Zheng H. Zhu
Summary: This paper investigates the tracking and control problem of a spacecraft rendezvous with a non-cooperative and tumbling space target subject to parametric uncertainty and unknown external disturbances. A novel adaptive sliding mode disturbance observer is proposed to track the pose of non-cooperative tumbling target without need for upper bounds of first and second derivatives of lumped disturbance. The robustness and effectiveness of the proposed control scheme are validated by numerical simulations in comparison with existing approaches.
Article
Engineering, Civil
Quan Quan, Rao Fu, Kai-Yuan Cai
Summary: The paper proposes a collision-avoidance control method for non-cooperative moving obstacles for a multicopter using a Lyapunov-like barrier function in altitude hold mode. Formal analysis and proofs demonstrate that the control problem can be solved if the obstacle is slower than the multicopter.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Automation & Control Systems
Zhixian Liu, Xiaofang Yuan, Zhe Li
Summary: This paper proposes a 3-D path planning system (3DPPS-CRPL) that considers the roll angle and path length, aiming to achieve safer and more efficient path planning by inhibiting the roll angle of the vehicle and optimizing the path length.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Engineering, Mechanical
Jorge A. Ricardo Jr, Davi A. Santos
Summary: This paper focuses on the robust guidance and control of fully actuated multirotor aerial vehicles in the presence of moving obstacles, linear velocity constraints, and matched model uncertainties and disturbances. By adopting a hierarchical flight control architecture and a robust collision-free guidance strategy, the paper achieves robust inner-loop control and collision-free navigation.
NONLINEAR DYNAMICS
(2023)
Article
Engineering, Aerospace
David Henry, Jazmin Zenteno-Torres, Jerome Cieslak, Alejandra Ferreira De Loza, Jorge Davila
Summary: The article evaluates the potential of sliding-mode control and estimation techniques in addressing various actuator faults, proposing a fault-tolerant control architecture based on dual quaternion formalism. The solution ensures system stability through a feedback saturation strategy and a generalized super-twisting control algorithm, covering different types of thruster faults.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Review
Engineering, Multidisciplinary
Jinwen Hu, Teng Wang, Haozhe Zhang, Quan Pan, Jiandong Zhang, Zhao Xu
Summary: This paper provides a guide for developing UAV collision avoidance technology by summarizing existing regulations and rules, discussing the mathematical formulation of rule-based collision avoidance methods, and conducting tests and benchmarking.
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2023)
Article
Computer Science, Artificial Intelligence
Yang Fei, Peng Shi, Cheng-Chew Lim
Summary: This article investigates the collision-free cooperative formation control problem for second-order multiagent systems with unknown velocity, dynamics uncertainties, and limited reference information. It proposes an observer-based sliding mode control law to ensure convergence of the system's tracking error and boundedness of the relative distance between each pair of agents. Potential fields and a time-varying topology are introduced to achieve collision-free motion.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Engineering, Mechanical
En Lu, Zhongming Tian, Lizhang Xu, Zheng Ma, Chengming Luo
Summary: In this paper, an observer-based robust cooperative formation tracking control method is proposed for the cooperative work of multiple agricultural machines on farmland. The combine harvester group is used to verify the effectiveness of the proposed method. The method includes the use of an observer with a cascade structure to observe disturbances and the design of a robust cooperative formation tracking controller based on multiple agent theory and the SMC method. The results show that the proposed method can achieve cooperative formation tracking control without collisions and improve the robustness of the cooperative formation harvesting system.
NONLINEAR DYNAMICS
(2023)
Article
Computer Science, Artificial Intelligence
J. Grosset, A. Ndao, A-J Fougeres, M. Djoko-Kouam, C. Couturier, J-M Bonnin
Summary: Industry 4.0 has led to digitalization and increased communication and cooperation between industrial machines. Autonomous industrial vehicles and cooperative mobile robots are becoming more prevalent in factories, improving intelligence and autonomy. However, challenges arise with the establishment and deployment of these vehicles, including employee acceptance, vehicle location, traffic flow, collision detection, and environmental perception. Simulation is used to address these challenges and meet manufacturers' and users' requirements.
INTEGRATED COMPUTER-AIDED ENGINEERING
(2023)
