Article
Engineering, Marine
Przemyslaw Herman
Summary: This paper proposes an algorithm for tracking the desired trajectory of underactuated marine vehicles. The control scheme takes into account model inaccuracies and external disturbances by transforming the dynamic equations of motion. The offered controller not only tracks the desired trajectory but also estimates the impact of dynamic couplings during vehicle motion.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Przemyslaw Herman
Summary: This paper addresses the trajectory tracking control issue for underactuated underwater vehicles with quasi-velocities resulting from the decomposition of the inertia matrix. The control algorithm considers unmodeled dynamics and external disturbances. It is shown that such mathematical models can be described by inertial quasi-velocities (IQV) after diagonalization. The proposed control scheme consists of a kinematic velocity controller and a dynamic adaptive integral sliding mode control algorithm. The paper extends the concept based on velocity transformation and backstepping methods to systems with a symmetric inertia matrix. The stability of a closed system in IQV space is proven. The proposed approach is verified on two 3 DOF models of underwater vehicles with thruster force limitations.
Article
Engineering, Marine
Wei Liu, Hui Ye, Xiaofei Yang
Summary: In this paper, the impact of time-varying external disturbances on the trajectory tracking accuracy of an underactuated unmanned surface vehicle (USV) is addressed. To ensure accuracy, a reduced-order extended state observer (ESO) and a super-twisting second-order sliding mode controller are adopted. The ESO handles the unknown time-varying sideslip angle, while the super-twisting technology reduces the chattering effect. Stability analysis using the Lyapunov method proves that the proposed controllers ensure convergence of tracking errors in finite time. Simulation experiments comparing the proposed super-twisting sliding mode control (STSMC) and adaptive sliding mode control (ASMC) methods demonstrate that the STSMC method enables the USV to track the reference trajectory successfully, with significantly reduced chattering compared to ASMC.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Chemistry, Multidisciplinary
Przemyslaw Herman
Summary: This paper investigates the trajectory tracking control problem for underactuated underwater vehicles. By using inertial quasi-velocities, introducing velocity transformation and integral sliding mode control, the proposed method allows trajectory tracking for vehicles with symmetric inertia matrix.
APPLIED SCIENCES-BASEL
(2022)
Article
Automation & Control Systems
Kaihui Wang, Wei Zou, Ruichen Ma, Yu Wang, Hu Su
Summary: This article presents a study on trajectory tracking control for an underactuated bionic underwater vehicle that is propelled by undulating fins. A novel dynamics model-based predictive control strategy is proposed to solve the challenging trajectory tracking control problem. Real-time precise tracking control is achieved with the integration of a practical sidesway compensator. Extensive simulations and real-world experiments demonstrate the reliability and superiority of the proposed approach.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Computer Science, Information Systems
Zhiwei Wu, Haosong Peng, Biao Hu, Xiaodong Feng
Summary: This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers, and demonstrates the effectiveness and robustness of the proposed control algorithm through numerical simulations.
Article
Chemistry, Analytical
Yong Dai, Duo Wang
Summary: This paper proposes a novel algorithm that combines robust sliding mode control (SMC) and tube model predictive control (MPC) to enhance the lateral path tracking control of autonomous vehicles (AV) in the presence of external disturbances. The proposed algorithm leverages the strengths of both MPC and SMC to achieve robustness and tracking accuracy, especially in the presence of unmodelled uncertainties and external disturbances.
Article
Acoustics
Mohammad-Reza Moghanni-Bavil-Olyaei, Jafar Keighobadi, Ahmad Ghanbari, Angelina Olegovna Zekiy
Summary: This paper proposes a passivity-based hierarchical SM control (PBHSMC) approach to tackle the trajectory tracking issue of a special class of UMSs. The approach ensures global asymptotical convergence and satisfies reaching mode and sliding mode conditions by utilizing feedback passivation and an SMC law. Numerical simulation results demonstrate the superior performance of the proposed PBHSMC scheme compared to the conventional SMO-based HSMC, showing better suppression of unwanted oscillations, lower tracking error and overshoot, shorter settling time, smoother and smaller control efforts, and more accurate estimation of state variables with less chattering.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Aerospace
Xu Huang, Liangliang Chen
Summary: This paper proposes analytical solutions to optimal underactuated spacecraft formation reconfiguration in elliptic orbits, without the need for radial or in-track thrust. By using the indirect optimization method, a detailed optimization procedure was designed, and numerical simulations verified that the proposed optimal schemes can perform underactuated formation reconfiguration in an energy-optimal way. The optimal underactuated reconfiguration schemes can manage formation reconfiguration with a control cost similar to that of the fully actuated scheme, even in the absence of radial or in-track thrust.
JOURNAL OF AEROSPACE ENGINEERING
(2021)
Article
Automation & Control Systems
Xuan Peng, Yupeng Gong
Summary: This paper proposes a dual quaternion-based hybrid PID pose tracking control strategy to address the non-linearity of PID controller design and the topological constraints. By introducing an integral term and hysteretic switching-based hybrid feedback, it compensates for constant disturbances and avoids unwinding phenomenon and noise sensitivity caused by the topological constraints. Numerical simulations demonstrate the performance and stability of the proposed method.
IET CONTROL THEORY AND APPLICATIONS
(2022)
Article
Automation & Control Systems
Yan Yan, Shuanghe Yu, Xiaomei Gao, Defeng Wu, Tieshan Li
Summary: This article develops continuous and periodic event-triggered sliding-mode control algorithms for path following of underactuated surface vehicles (USVs). The upper bounds of quasi-sliding modes for path following of USVs are established for the first time. Continuous and periodic event-triggered mechanisms are considered and added into the proposed continuous sliding-mode control scheme. The proposed strategies can make the sliding variables reach the quasi-sliding modes and stay in there, while reducing energy consumption. The effectiveness of the proposed control methods is validated through simulation results.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Engineering, Electrical & Electronic
Jianshan Zhou, Daxin Tian, Zhengguo Sheng, Xuting Duan, Guixian Qu, Dongpu Cao, Xuemin Shen
Summary: A novel decentralized robust control approach is proposed in this paper to address the external disturbances in vehicle platooning. By combining a super-twisting second-order sliding mode strategy and a disturbance observer, a super-twisting SOSMDO platoon controller is designed, and the theoretical analysis proves its convergence and stability.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Chaoqun Wang, Xiangyu Chen, Chenming Li, Rui Song, Yibin Li, Max Q-H Meng
Summary: This article presents a hierarchical trajectory planning approach for safe and smooth robot motion in dynamic environments. The approach includes global path generation, local chasing and tracking, adaptive model predictive control, and event-triggered mechanism. Through extensive experiments, the effectiveness of the approach is demonstrated.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Multidisciplinary
Pan Chaofeng, Li Yuan, Huang Aibao, Wang Jian, Liang Jun
Summary: This study investigates vehicle queuing at intersections and proposes an eco-driving strategy to improve vehicle energy consumption and traffic efficiency in urban traffic environments. The proposed design approach can be applied to electric vehicles through the planning of vehicle speed and determination of control variable acceleration. The results reveal that the GA-based single-vehicle speed planning method reduces energy consumption by 16% compared to rule-based methods, while the GA fleet speed planning method based on V2X communication reduces average fleet energy consumption by 26% and 24% respectively, and improves intersection traffic efficiency.
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2023)
Article
Engineering, Aerospace
Hao Zhang, Peng Wang, Guojian Tang, Weimin Bao
Summary: This paper discusses the event-triggered fixed-time control technique for hypersonic morphing vehicles. To simplify the problem, a control-oriented model with morphing-span wings is established. Strong robustness and adaption are demanded due to significant aerodynamic characteristic changes caused by span morphing. The multivariable sliding mode manifold is developed based on fixed-time control technology to ensure convergence. The switching dynamic event-triggering mechanism is studied to save the resource of the flight control system. The proposed strategy guarantees a direct control input design. The Lyapunov theory is employed to reveal the fixed-time stability of the closed-loop system. Three simulation cases are introduced to examine the detailed performance.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Automation & Control Systems
Zenan Lin, Ming Yue, Guangyi Chen, Jianzhong Sun
Summary: This paper presents a two-layer path-planning method that utilizes an optimized artificial potential field method and an improved dynamic window approach at the global and local layer, respectively. By incorporating a new repulsive field and utilizing particle swarm optimization for obstacle influence range, the robot is able to plan a better path under multi-obstacle environments. Additionally, a fuzzy control scheme based on collision risk index and relative distance is adopted for evaluating the danger level of moving obstacles at the local path planning level. This method allows the robot to plan a shorter and smoother path while quickly reacting to and avoiding moving obstacles.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Automation & Control Systems
Jinyong Shangguan, Ming Yue, Chao Fang, Lie Guo
Summary: This paper proposes a fuel economy-oriented trajectory tracking control strategy for plug-in hybrid electric buses, which reconstructs a reference trajectory, develops a tracking controller, and achieves optimal fuel economy while ensuring trajectory tracking accuracy.
ASIAN JOURNAL OF CONTROL
(2022)
Article
Automation & Control Systems
Jinyong Shangguan, Ming Yue, Huanyu Qi, Chao Fang
Summary: This paper proposes a hierarchical control framework for in-wheel motor drive electric buses based on nonlinear model predictive control (NMPC). A modular nonlinear observer is designed to achieve accurate velocity estimation. The framework integrates path tracking and energy optimization through coordinated control.
EUROPEAN JOURNAL OF CONTROL
(2022)
Article
Robotics
Bai Li, Li Li, Tankut Acarman, Zhijiang Shao, Ming Yue
Summary: This study introduces an optimization-based maneuver planner that weakly relies on sampling and search, aiming to quickly find optimal solutions. The planner consists of three stages, utilizing A(*) search, iterative solving, and locating an optimum that strictly meets constraints. It demonstrates clear advantages over prevalent sampling-and-search-based planners in high-dimensional solution spaces and/or strict constraint scenarios.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Jinyong Shangguan, Ming Yue, Chao Fang, Huanyu Qi
Summary: This paper proposes a Taguchi-based robust design optimization method for energy optimization of dual-motor drive electric buses. By using dynamic programming and the Taguchi method, robust component parameters that are insensitive to noise factors are found, and their robustness and reliability are evaluated using a six sigma analysis based on Monte Carlo sampling.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Mechanical
Ye Jin, Ming Yue, Weijie Li, Jinyong Shangguan
Summary: This paper proposes a target posture-oriented path planning method, which utilizes an improved A* algorithm for global planning and an optimized dynamic windows approach (DWA) for local planning. This method allows wheeled mobile robots (WMRs) to plan optimal paths under different posture situations, thereby reducing the time required for navigation tasks in specific scenes.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Automation & Control Systems
Weijie Li, Ming Yue, Jinyong Shangguan, Ye Jin
Summary: This paper presents an end-to-end online learning navigation method based on deep reinforcement learning (DRL) for mobile robots in unknown environments. The proposed prioritized experience replay-double dueling deep Q-networks (PER-D3QN) algorithm combines various techniques to achieve efficient navigation. The introduction of artificial potential field in the reward function addresses the issue of sparse reward and guides robots to complete navigation tasks. A knowledge transfer training method is also proposed to accelerate training in complex environments. Performance validation in a three-dimensional simulator demonstrates the feasibility and efficiency of the proposed approaches.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
Article
Acoustics
Gengxin Qi, Ming Yue, Jinyong Shangguan, Lie Guo, Jian Zhao
Summary: This paper proposes an integrated control method for path tracking and lateral stability of distributed drive electric vehicles based on tire cornering stiffness adaptive model predictive control scheme. The control method improves the performance of path tracking and lateral stability by integrating active front steering and direct yaw control. The tire cornering stiffness is estimated using the extended Kalman filter algorithm, and an adaptive model predictive controller is constructed based on the online updated tire cornering stiffness value. The simulation results show that the proposed method is robust and effective in improving vehicle path tracking accuracy and lateral motion stability under extreme conditions.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Electrical & Electronic
Ming Yue, Jinyong Shangguan, Lie Guo, Jian Zhao
Summary: This article proposes an all-in-one control framework for distributed drive electric buses (DDEBs) that can effectively attenuate the effects of uncertain crosswind and varied passenger mass in path tracking, while minimizing the electricity consumption of battery. The control framework includes robust tube-based model predictive control for lateral, yaw and roll motions, and robust sliding mode control for longitudinal motion. It also decouples the uncertain crosswind and varied passenger mass into external disturbances and formulates an energy optimization problem as a constrained weighted least squares problem.
The proposed control framework is demonstrated to be robust and effective in a Trucksim-Simulink co-simulation, achieving better energy saving effect compared to the original control methods.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Chen Xu, Ming Yue, Jinyong Shangguan, Mingyang Xu
Summary: This paper proposes a constrained model predictive control (MPC) for tractor-trailer trucks, considering the motion constraints of the vehicles. Firstly, a targeted theoretical derivation method is used to establish a more accurate nonlinear model for articulated vehicles. Secondly, multi-source motion constraints are introduced, including collision avoidance and maintaining stable vehicle states. Finally, a constrained MPC controller is constructed for automatic tracking operation, taking into consideration position security and yaw stability demands.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2023)
Article
Automation & Control Systems
Yao Gu, Ming Yue, Jinyong Shangguan, Longfei Su
Summary: This article presents an adaptive obstacle avoidance control strategy for a multi-robot system in narrow alleyway environments. The strategy includes a formation decision mechanism and a model predictive control-based formation controller. The decision mechanism offers two obstacle avoidance methods, homogeneous deformation and heterogeneous deformation, to provide flexible options for the formation. A formation bank is preset to determine the best obstacle avoidance configuration based on structural deformation, convergence speed, and energy consumption. The proposed model predictive control-based formation controller ensures successful configuration switching and maintenance, as verified by simulation results.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2023)
Article
Automation & Control Systems
Yigao Ning, Ming Yue, Jinyong Shangguan, Jian Zhao
Summary: This article proposes an optimal trajectory planning method for the navigation of underactuated wheeled inverted pendulum (WIP) vehicles in unknown environments. The method considers various performance demands and utilizes map-building and multiobjective optimization techniques to find an optimized path. On the basis of kinematical and dynamical analysis, the minimum-time trajectory along the optimized path is further planned. The feasibility of the proposed method is validated through experiments.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Engineering, Civil
Jinyong Shangguan, Ming Yue, Chen Xu, Jian Zhao
Summary: In this article, a robust fault-tolerant estimation (RFTE) method is proposed to estimate sideslip and roll angles of distributed drive electric buses (DDEBs) despite stochastic disturbances and sensor faults. The method constructs an augmented system to consider the effects of sensor faults, stochastic passenger mass, and modeling errors, and develops an unknown input observer to estimate the augmented system states. The proposed RFTE method demonstrates better robustness and reliability than existing baseline estimation methods according to experimental results.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Acoustics
Chen Xu, Ming Yue, Gengxin Qi, Lie Guo, Xudong Zhao
Summary: This paper proposes a coordinated control strategy for autonomous tractor-trailer trucks based on the slope-climbing maneuver. It takes into consideration tracking accuracy and underactuated trailer stability. The paper establishes a dynamics model and an articulation model using a slope-deconstruction method to investigate motion characteristics and mechanical properties. A hierarchical coordinated strategy is developed to ensure vehicle stability during slope-climbing tracking, utilizing feedforward model predictive control and robust H-infinity control. Co-simulation analysis verifies the feasibility and effectiveness of the proposed control strategy.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Proceedings Paper
Automation & Control Systems
Huanyu Qi, Jinyong Shangguan, Chao Fang, Ming Yue
Summary: A path tracking control method for a car-like wheeled mobile robot (CWMR) on the slope is proposed in this study. The method establishes a dynamic model and kinematics expression for the CWMR, and designs an active steering controller based on nonlinear model predictive control to achieve minimum tracking error.
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022)
(2022)
