The Experts below are selected from a list of 270 Experts worldwide ranked by ideXlab platform

Fuguang Ding - One of the best experts on this subject based on the ideXlab platform.

  • adaptive finite time pi sliding mode trajectory tracking control for underactuated Hovercraft with drift angle constraint
    IEEE Access, 2019
    Co-Authors: Ta Zhang, Fuguang Ding
    Abstract:

    Considering the sailing characteristics and difficult maneuverability of Hovercraft, the three degree-of-freedom (DOF) mathematical model cannot describe effectively the motion of Hovercraft. Therefore, a mathematical model of four-DOF motion of Hovercraft is established. This paper addresses the trajectory tracking problem of the Hovercraft with finite-time convergence to equilibrium point, model uncertainty, external disturbance and drift angle constraint based on the four-DOF model. A novel robust tracking controller is proposed by combining finite-time observer with adaptive sliding mode control to solve the problem of the finite-time convergence and handle approximation error. In order to ensure the safe navigation of the Hovercraft, a safety constraint auxiliary system is designed to restrain the drift angle in real time. Furthermore, a finite-time observer is designed to estimate and compensate model uncertainties and external disturbances. We show that under the proposed control scheme, all tracking errors can converge to zero in finite time, the drift angle can be constrained in real time and all closed-loop signals are guaranteed to be bounded. Finally, the numerical simulation results show the effectiveness of the proposed method.

  • real time obstacle avoidance of Hovercraft based on follow the gap with dynamic window approach
    OCEANS Conference, 2018
    Co-Authors: Yuanhui Wang, Fuguang Ding, Wenchao She, Shaoshi Dai
    Abstract:

    Considering the high-speed Hovercraft navigation safety and its complicated maneuvering and control performance, it is necessary to study the real-time obstacle avoidance combined with the Hovercraft dynamics performance. This paper introduced an improved Follow the Gap Method (FGM) with dynamic window approach (DWA) considering the real-time Hovercraft dynamic performance to avoid obstacles. The traditional DWA is used to find an appropriate velocity, that is the vehicle selects the possible velocity in the admissible velocity space to avoid collision during a specific time interval. And then choose the most appropriate velocity by using an objective function. In addition, this method mostly applies in vehicles with first-order nonholonomic constraints such as automobile and has the problem of performance decline applying in Hovercraft. For the improved DWA applied on Hovercraft, the acceleration and deceleration limits are added to the algorithm and the influence of the choice of heading angle during collision avoidance process is more emphasized. In this paper, follow the gap method is used to find reference heading angle. FGM aims to find the optimal command angle by selecting maximum gap in Hovercraft’s view and combining the maximum gap center azimuth with goal azimuth using a heuristic and fusing function. Traditional FGM has the problem of calculating difficulties in nonholonomic constraints and ignoring the working scope of radar. The improved FGM addresses these problems by restricting rudder angle and classifying the obstacles. In this way, the collision avoidance goal is achieved by properly guiding the heading angle and leading an accessible velocity. Effectiveness of this combined algorithm as well as the parameter regulation strategy is verified on a dynamic simulative model of Hovercraft.

Geir E. Dullerud - One of the best experts on this subject based on the ideXlab platform.

  • multivehicle systems control over networks a Hovercraft testbed for networked and decentralized control
    IEEE Control Systems Magazine, 2006
    Co-Authors: A. Stubbs, Vladimeros Vladimerou, A. Fulford, J. Strick, Derek King, Geir E. Dullerud
    Abstract:

    This paper presents an overview of the Hovercraft testbed for decentralized control (HoTDeC) testbed at the University of Illinois. It describes the architecture of the system and its subsystems and provides details about modeling tine system and the control dynamics of the Hovercraft vehicles. The project focuses on implementing distributed strategies for coordinated maneuvers and investigating approaches for dealing systematically with network latency as well as the application of higher level control algorithms.

  • A Hovercraft testbed for decentralized and cooperative control
    Proceedings of the 2004 American Control Conference, 2004
    Co-Authors: Vladimeros Vladimerou, A. Stubbs, J. Rubel, A. Fulford, J. Strick, Geir E. Dullerud
    Abstract:

    This paper describes a testbed facility - the HoTDeC (Hovercraft testbed for decentralized control) - developed by the authors at the University of Illinois, consisting of multiple autonomous Hovercraft vehicles which are wirelessly networked. This facility provides a flexible and state-of-the-art testbed for experimentation with inter-networked vehicles and sensors for decentralized and cooperative control, in a dynamically nontrivial setting.

Nicolas Franceschini - One of the best experts on this subject based on the ideXlab platform.

  • speed control in straight
    2015
    Co-Authors: Frédéric L. Roubieu, Nicolas Franceschini, Julien Serres, Franck Ruffier
    Abstract:

    fully-autonomous Hovercraft inspired by bees: wall following an

  • Combining sound and optic flow cues to reach a sound source despite lateral obstacles
    2008
    Co-Authors: Franck Ruffier, Julien Serres, T. Mukai, H. Nakashima, Nicolas Franceschini
    Abstract:

    In our project on the autonomous guidance of Micro-Air Vehicles (MAVs) in confined indoor and outdoor environments, we have combined an insect vision-based autopilot with a directional sound sensor, with which a miniature Hovercraft reaches a sound source along a corridor by automatically controlling its speed, its clearance from the walls, and its body yaw. A Hovercraft is an air vehicle endowed with natural roll and pitch stabilization characteristics, in which planar flight control systems can be developed conveniently. Our Hovercraft is fully actuated by two rear and two lateral thrusters. It travels at a constant altitude (about 2mm) and senses the obstacles by means of two lateral eyes that measure the right and left optic flows (OFs). The visuo-motor control system, which has been previously called LORA III (Lateral Optic flow Regulation Autopilot, Mark III), is an insect-inspired dual OF regulator consisting of two interdependent feedback loops, each of which has its own OF set-point and controls its own translational degree of freedom (surge or sway). The sound based control system servoes the robot course direction to the sound source direction estimated by an insect-inspired sound sensor. Our computer-simulated experiments show that the Hovercraft can navigate along a tapered corridor at a relatively high speed (up to 1.5m/s). Both minimalistic visual and sound systems (comprised of only 4 pixels and two 0.1g omni-directional microphones) suffices for the Hovercraft to reach the target while controlling its clearance from the walls and its forward speed jointly, without any need for speed and range sensors.

  • A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance
    Autonomous Robots, 2008
    Co-Authors: Julien Serres, D. Dray, Franck Ruffier, Nicolas Franceschini
    Abstract:

    In our project on the autonomous guidance of Micro-Air Vehicles (MAVs) in confined indoor and outdoor environments, we have developed a vision based autopilot, with which a miniature Hovercraft travels along a corridor by automatically controlling both its speed and its clearance from the walls. A Hovercraft is an air vehicle endowed with natural roll and pitch stabilization characteristics, in which planar flight control systems can be developed conveniently. Our Hovercraft is fully actuated by two rear and two lateral thrusters. It travels at a constant altitude (∼2 mm) and senses the environment by means of two lateral eyes that measure the right and left optic flows (OFs). The visuo-motor control system, which is called LORA III (Lateral Optic flow Regulation Autopilot, Mark III), is a dual OF regulator consisting of two intertwined feedback loops, each of which has its own OF set-point and controls the vehicle’s translation in one degree of freedom (surge or sway). Our computer-simulated experiments show that the Hovercraft can navigate along a straight or tapered corridor at a relatively high speed (up to 1 m/s). It also reacts to any major step perturbations in the lateral OF (provided by a moving wall) and to any disturbances caused by a tapered corridor. The minimalistic visual system (comprised of only 4 pixels) suffices for the Hovercraft to be able to control both its clearance from the walls and its forward speed jointly, without ever measuring speed and distance. The non-emissive visual sensors and the simple control system developed here are suitable for use on MAVs with a permissible avionic payload of only a few grams. This study also accounts quantitatively for previous ethological findings on honeybees flying freely in a straight or tapered corridor.

  • Two optic flow regulators for speed control and obstacle avoidance
    2006
    Co-Authors: Julien Serres, Franck Ruffier, Nicolas Franceschini
    Abstract:

    In our project on the autonomous guidance of Micro-Air Vehicles (MAVs) in confined indoor and outdoor environments, we have developed a bio-inspired optic flow based autopilot with which the speed of a miniature Hovercraft is controlled and the walls of a straight or tapered corridor are safely avoided. A Hovercraft is an air vehicle endowed with natural roll and pitch stabilization characteristics, in which planar flight control can be developed conveniently. Our own Hovercraft is fully actuated by two rear and two lateral thrusters. It travels at a constant ground height (~2mm) and senses the environment by means of two lateral eyes that measure the right and left optic flows (OFs). The complete visuo-motor control system, which is called LORA(2) (Lateral Optic flow Regulation Autopilot), consists of a system of two lateral OF regulators with a single OF set-point: (i) the first lateral OF regulator adjusts the Hovercraft's forward thrust (which determines the forward airspeed Vx) so as to maintain the mean value of the two (right and left) OFs measured equal to a set-point. (ii) the second lateral OF regulator controls the Hovercraft's side-slip thrust (which determines the side-slip airspeed Vy) so as to maintain the OF measured equal to the same set-point as in (i). Interestingly, this makes the distance to the left (DL) or right (DR) wall proportional to the forward airspeed Vx determined in (i): the faster the Hovercraft is travelling, the further away from the walls it will be. Simulations have shown that the Hovercraft manages to navigate in a straight or tapered corridor at speeds of up to 1m/s although it has only a minimalistic visual system (it is equipped with only two pixels in each eye). The passive visual sensors and the simple control system used here are suitable for use on MAVs with an avionic payload of only a few grams. A major outcome of this work is that the LORA(2) autopilot makes the Hovercraft navigate without any need for range sensors or speed sensors.

Chun-chieh Wang - One of the best experts on this subject based on the ideXlab platform.

  • Design of an autonomous remote control Hovercraft with image recognition technology
    2013
    Co-Authors: Chun-chieh Wang, Ting-en Lee
    Abstract:

    This study mainly focuses on the design of an autonomous remote control (RC) Hovercraft. In the control design of Hovercraft, we apply a fuzzy gain scheduled integral scheme to deal with the uncertainties of nonlinear system. In the implement system, the BASIC Stamp micro-controller is applied as control center to perform tasks. In addition, the ultrasonic sensor is used for providing the function of obstacle avoidance, and the camera installed on Hovercraft is able to catch the immediate image. With the application of image recognition technology, the developed RC Hovercraft possesses the capability of recognition and navigation. The experimental results indicate that based on the proposed method the RC Hovercraft can be autonomously navigated to the target.

  • RVSP - Fuzzy Variable Structure Control for Autonomous Orientation of Hovercraft Systems
    2011 First International Conference on Robot Vision and Signal Processing, 2011
    Co-Authors: Chun-chieh Wang
    Abstract:

    This paper is concerned with the control of a Hovercraft vessel using a fuzzy variable structure control theory. Firstly, we introduce the R/C Hovercraft type vessel dynamics. Secondly, the fuzzy variable structure control (FVSC) is proposed in this paper. A significant feature is that the transient response during the reaching phase has been remarkably improved by the proposed control. To illustrate the effectiveness of the proposed method, we choose the R/C Hovercraft vessel as the experimental system. Simulation results showed good responses to any initial conditions.

  • Orientation control of Hovercraft systems via an SMFLC and image-guided techniques
    2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), 2011
    Co-Authors: Chun-chieh Wang
    Abstract:

    This paper is concerned with the control of a Hovercraft vessel using a sliding mode fuzzy logic control and image-guided techniques. Firstly, we introduce the R/C Hovercraft type vessel dynamics. Secondly, the sliding mode fuzzy logic control (SMFLC) is proposed in this paper. A significant feature is that the transient response during the reaching phase has been remarkably improved by the proposed control. Finally, an image-guided technique is presented. To illustrate the effectiveness of the proposed method, we choose the R/C Hovercraft vessel as the experimental system. Simulation results showed good responses via the proposed techniques.

  • Fuzzy Gain Scheduled Integral Control and Its Application to a Hovercraft Vessel with Uncertainties
    First International Conference on Innovative Computing Information and Control - Volume I (ICICIC'06), 2006
    Co-Authors: Chun-chieh Wang, Juhng-perng Su
    Abstract:

    In this paper, we investigate the tracking control problem of a Hovercraft vessel with uncertainties via a fuzzy gain scheduled integral control. There are two parts in this paper: the simulation and the experiment. In the first section, we will apply PID control as well as the proposed control law in the Hovercraft system. Simulation results reveal that the proposed control scheme is promising for controlling uncertain Hovercraft systems. In experimental part, we use the complex programmable logic device (CPLD) to realize the PID controller. Because of the mature development and easy acquirability of CPLD, we digitize this controller and develop it by the Altera CPLD platform. The peripheral circuit and the controller are established in our new system on a chip. It can shorten the time for manufacturing electronic circuits, and can also achieve the goal of a fast prototype. In addition, the implementation cost decreased significantly by this scheme

Dongkyoung Chwa - One of the best experts on this subject based on the ideXlab platform.

  • coupled multiple sliding mode control for robust trajectory tracking of Hovercraft with external disturbances
    IEEE Transactions on Industrial Electronics, 2018
    Co-Authors: Seongchan Jeong, Dongkyoung Chwa
    Abstract:

    This paper proposes a robust coupled multiple sliding-mode control (CMSMC) method for tracking control of underactuated Hovercraft systems with nonholonomic constraints and external disturbances. First, a friction model for the Hovercraft, one of the main disturbance factors, is proposed by considering viscosity, and its validity is demonstrated through experiments. Second, a disturbance model in the actual Hovercraft system is estimated using a least-square-estimation-based disturbance observer. Third, pseudo forces and pseudo heading direction angle for tracking control and disturbance compensation are proposed considering the characteristics of underactuated Hovercraft systems. Fourth, coupled multiple sliding surfaces (CMSSs) are newly introduced in terms of the tracking errors between the pseudo control variables and actual ones, and then, a CMSMC-based controller is proposed so that the CMSSs converge to zero within finite time in the case of zero disturbance estimation errors. In this way, three posture variables of the Hovercraft converge to reference ones using only two control inputs. Finally, stability analysis and verification by simulations and experiments show that both the pseudo control tracking errors and posture tracking errors are ultimately bounded and asymptotically converge to zero when disturbance estimation errors become zero.