The Experts below are selected from a list of 252 Experts worldwide ranked by ideXlab platform
Miroslav Krstic - One of the best experts on this subject based on the ideXlab platform.
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3-D Source Seeking for Underactuated Vehicles Without Position Measurement
IEEE Transactions on Robotics, 2009Co-Authors: Jennie Cochran, Nima Ghods, Antranik Siranosian, Miroslav KrsticAbstract:Our past work introduced source seeking methods for GPS-denied autonomous vehicles using only local signal measurement and operating in two dimensions. In this paper, we extend these results to three dimensions. The 3D extensions introduce many interesting challenges, including the choice of vehicle models in 3D, sensor placement to allow probing-based gradient estimation of an unknown signal field in 3D, the question of what type of pattern of vehicle motion can be produced in an underactuated 3D vehicle to allow tuning by single-loop or multiloop extremum seeking, and the shape of attractors, which become very complex in 3D. We present two control schemes that address these questions. The first scheme focuses on vehicles with a constant forward Velocity and the ability to actuate pitch and yaw velocities. The second scheme employs vehicles with constant forward and pitch velocities and actuate only the Roll Velocity. Our results include convergence analysis and simulation results.
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ICRA - GPS denied source seeking for underactuated autonomous vehicles in 3D
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Jennie Cochran, Nima Ghods, Antranik Siranosian, Miroslav KrsticAbstract:Extremum seeking has been successfully applied to source seeking for autonomous vehicles operating in two dimensions. In this paper we extend these results to vehicles operating in three dimensions. The extension is interesting for several reasons. First, there is the choice of vehicle models to consider, and second there is the question of what type of vehicle movement can be actuated. We present two control schemes which address these questions. The first scheme focuses on vehicles with a constant forward Velocity and the ability to actuate pitch and yaw velocities. The second scheme explores vehicles which operate with a constant forward Velocity and a constant pitch Velocity and which are capable of actuating only the Roll Velocity. We present the vehicle models, details of the control schemes, and simulation results.
Jorge E. Ruiz-duarte - One of the best experts on this subject based on the ideXlab platform.
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Observer based sliding mode contRoller for vehicles with Roll dynamics
Journal of the Franklin Institute, 2019Co-Authors: Juan J. Ley-rosas, Luis E. González-jiménez, Alexander G. Loukianov, Jorge E. Ruiz-duarteAbstract:Abstract In this work, considering the Roll dynamics and actuator dynamics, an observer-based control scheme for a vehicle is proposed. The proposal considers a nonlinear higher order sliding mode observer to estimate unmeasurable lateral Velocity, Roll angle and Roll Velocity. Using the observer information, a contRoller based on block control with sliding mode technique is designed for the reference trajectory tracking of the lateral and yaw velocities of the vehicle. The stability of the complete closed-loop system including zero dynamics is analyzed. The effectiveness of the proposed scheme is demonstrated through CarSim simulations.
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CDC - Robust observer-based sliding mode contRoller for vehicles with Roll dynamics
2016 IEEE 55th Conference on Decision and Control (CDC), 2016Co-Authors: Juan J. Ley-rosas, Luis E. González-jiménez, Alexander G. Loukianov, Jorge E. Ruiz-duarteAbstract:In this work, an observer-based sliding mode (SM) control scheme for a vehicle considering Roll dynamics, is presented. The proposal considers a nonlinear higher order sliding mode reduced observer for the lateral Velocity, Roll angle and Roll Velocity. Based on this observer, the contRoller is designed for the reference tracking of the lateral and yaw velocities of the vehicle, using adaptive super-twisting algorithm. In order to demonstrate the stability of the closed-loop system, Lyapunov functions for each of the algorithms are used. The proposed control scheme has finite-time convergence and the robustness in presence of plant parameters variations. This is demonstrated through the performed simulation.
Jennie Cochran - One of the best experts on this subject based on the ideXlab platform.
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3-D Source Seeking for Underactuated Vehicles Without Position Measurement
IEEE Transactions on Robotics, 2009Co-Authors: Jennie Cochran, Nima Ghods, Antranik Siranosian, Miroslav KrsticAbstract:Our past work introduced source seeking methods for GPS-denied autonomous vehicles using only local signal measurement and operating in two dimensions. In this paper, we extend these results to three dimensions. The 3D extensions introduce many interesting challenges, including the choice of vehicle models in 3D, sensor placement to allow probing-based gradient estimation of an unknown signal field in 3D, the question of what type of pattern of vehicle motion can be produced in an underactuated 3D vehicle to allow tuning by single-loop or multiloop extremum seeking, and the shape of attractors, which become very complex in 3D. We present two control schemes that address these questions. The first scheme focuses on vehicles with a constant forward Velocity and the ability to actuate pitch and yaw velocities. The second scheme employs vehicles with constant forward and pitch velocities and actuate only the Roll Velocity. Our results include convergence analysis and simulation results.
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ICRA - GPS denied source seeking for underactuated autonomous vehicles in 3D
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Jennie Cochran, Nima Ghods, Antranik Siranosian, Miroslav KrsticAbstract:Extremum seeking has been successfully applied to source seeking for autonomous vehicles operating in two dimensions. In this paper we extend these results to vehicles operating in three dimensions. The extension is interesting for several reasons. First, there is the choice of vehicle models to consider, and second there is the question of what type of vehicle movement can be actuated. We present two control schemes which address these questions. The first scheme focuses on vehicles with a constant forward Velocity and the ability to actuate pitch and yaw velocities. The second scheme explores vehicles which operate with a constant forward Velocity and a constant pitch Velocity and which are capable of actuating only the Roll Velocity. We present the vehicle models, details of the control schemes, and simulation results.
Masahiro Shinohara - One of the best experts on this subject based on the ideXlab platform.
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composite materials development of smc Roll forming ii formability in smc Roll forming influence of reduction Roll Velocity and Roll diameter on load and deformation characteristics in forming process
Journal of The Society of Materials Science Japan, 2001Co-Authors: Tsutao Katayama, Kazumasa Kurokawa, Atsushi Kitade, Go Kamada, Masahiro Shinohara, Masahiro HakotaniAbstract:SMC (Sheet Molding Compound) is suitable for mass-production of FRP. It is usually formed in compression molding. But this molding has some problems. Therefore we propose the application of the Roll forming to SMC, expecting the decrease of forming energy, short production time and contRollability of fiber orientation. These studies have been carried out about the influence of parameters, such as reduction, tension between Roll stands and so on. But this study has not been carried out about the influence of other parameters, such as Roll Velocity, Roll diameter and so on. And also, the forming conditions contributing to short production time have not been found out yet.In this paper, for investigating the forming conditions contributing to lateral spread and short production time, we carried out the experiments about the influence of important parameters on load and deformation characteristics. Secondary, I estimated a optimum condition made from the results acquired by the above experiments.As the results, we obtained that lateral spread increases with increasing Roll Velocity and Roll diameter. And also, we found out production time decreases with increasing reduction and Roll Velocity. Finally, we suggested the forming condition contributing to the formability of flange part and short production time. And we could make forming cycle decrease by 58.3 percent and flange height increase by 15.9 percent.
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Application of Roll forming to SMC forming
Composite Structures, 1997Co-Authors: Tsutao Katayama, Masahiro Hakotani, Yuzo Hayakawa, Masahiro ShinoharaAbstract:Sheet Moulding Compound (SMC) is suitable for mass production of FRP. It is usually formed by compression moulding. Though compression moulding can make production time short, this moulding method needs a huge forming energy because of the hydrostatic stress in the mould. Roll forming needs a smaller forming energy than compression moulding, because most of the forming load works as deviatoric stress. We proposed to apply Roll forming to SMC, expecting a decrease of the forming energy, a short production time and a contRollability of the fibre orientation. In this paper, we investigate the effect of the reduction, the Roll Velocity and the Roll diameter on the forming pressure and the deformation behaviour of the materials. Considering these results, we try to construct a design system for Roll forming of SMC.
Juan J. Ley-rosas - One of the best experts on this subject based on the ideXlab platform.
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Observer based sliding mode contRoller for vehicles with Roll dynamics
Journal of the Franklin Institute, 2019Co-Authors: Juan J. Ley-rosas, Luis E. González-jiménez, Alexander G. Loukianov, Jorge E. Ruiz-duarteAbstract:Abstract In this work, considering the Roll dynamics and actuator dynamics, an observer-based control scheme for a vehicle is proposed. The proposal considers a nonlinear higher order sliding mode observer to estimate unmeasurable lateral Velocity, Roll angle and Roll Velocity. Using the observer information, a contRoller based on block control with sliding mode technique is designed for the reference trajectory tracking of the lateral and yaw velocities of the vehicle. The stability of the complete closed-loop system including zero dynamics is analyzed. The effectiveness of the proposed scheme is demonstrated through CarSim simulations.
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CDC - An I&I Observer-Based ContRoller With Guaranteed Stability For Vehicles With Roll Dynamics
2019 IEEE 58th Conference on Decision and Control (CDC), 2019Co-Authors: Rafael Cisneros, Juan J. Ley-rosas, Jose Guadalupe Romero, Mohamed MaghenemAbstract:In this note, an observer-based feedback control for tracking trajectories of the yaw and lateral velocities in a vehicle is proposed. The considered model consists of the vehicle’s longitudinal, lateral and yaw velocities dynamics together with its Roll dynamics. First, an observer for the vehicle lateral Velocity, Roll angle and Roll Velocity is proposed. Its design is based on the well-known Immersion & Invariance technique and Super-Twisting Algorithm. Tuning conditions on the observer gains are given such that the observation errors globally asymptotically converge to zero provided that the yaw Velocity reference is persistently excited. Next, a feedback control law depending on the observer estimates is designed using the Output Regulation technique. It is showed that the tracking errors converge to zero as the observation errors decay. To assess the performance of the contRoller, numerical simulations are performed where the stable operation of the closed-loop system is verified.
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A Globally Exponentially Convergent I&I Observer for Vehicles with Roll Dynamics
IFAC-PapersOnLine, 2017Co-Authors: Jose Guadalupe Romero, Juan J. Ley-rosas, Luis E. González-jiménez, Rafael Cisneros, Alexander G. LoukianovAbstract:Abstract In this paper an observer for a vehicle system considering Roll dynamics is presented. The observer design is based on the well-known Immerse and Invariance (I&I) technique to estimate the lateral Velocity, Roll angle and Roll Velocity of the vehicle from the measurements of the longitudinal/lateral accelerations, longitudinal Velocity, yaw rate and steer angle. Furthermore, under practical considerations, global exponential convergence can be assured. To assess the performance of the observer, an observer-based control using the super-twisting algorithm has been derived and validated through numerical simulations.
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CDC - Robust observer-based sliding mode contRoller for vehicles with Roll dynamics
2016 IEEE 55th Conference on Decision and Control (CDC), 2016Co-Authors: Juan J. Ley-rosas, Luis E. González-jiménez, Alexander G. Loukianov, Jorge E. Ruiz-duarteAbstract:In this work, an observer-based sliding mode (SM) control scheme for a vehicle considering Roll dynamics, is presented. The proposal considers a nonlinear higher order sliding mode reduced observer for the lateral Velocity, Roll angle and Roll Velocity. Based on this observer, the contRoller is designed for the reference tracking of the lateral and yaw velocities of the vehicle, using adaptive super-twisting algorithm. In order to demonstrate the stability of the closed-loop system, Lyapunov functions for each of the algorithms are used. The proposed control scheme has finite-time convergence and the robustness in presence of plant parameters variations. This is demonstrated through the performed simulation.
