This brief addresses the trajectory tracking control problem of a fully actuated surface vessel subjected to asymmetrically constrained input and output. The controller design process is based on backstepping technique. An asymmetric time-varying barrier Lyapunov function proposed address output constraint. To overcome difficulty nondifferentiable saturation, smooth hyperbolic tangent employed approximate saturation function. A Nussbaum introduced compensate for approximation ensure system...

A new adaptive switched model predictive control (MPC) strategy is designed in this brief for energy dispatching of a photovoltaic-diesel-battery hybrid power system, where the battery unpermitted to charge and discharge simultaneously. The distinguishing feature proposed MPC that, constraints are constructed describe different modes (charging discharging) battery, such that burden using multiple-input-multiple-output state-space could be circumvented. Parameters unknown constants, estimated...

Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of detection points. With development automotive technologies recent years, instance segmentation becomes possible by using radar. Its data contain contexts such as cross section micro-Doppler effects, sometimes can provide when field view is obscured. The outcome from could be potentially used input trackers...

In controller design for quadrotors, the drag coefficients, thrust and aerodynamic damping coefficients are usually unmeasurable, they have to be regarded as uncertain parameters. Meanwhile, position information provided by GPS receiver is easy get disturbed environmental noise. A backstepping-based robust adaptive control scheme proposed in this article address parameters, bounded external disturbances, noise measurement. The approach overcomes singularities resulted from using inverse...

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection autonomous driving. Nevertheless, sparsity noisiness of point clouds hinder further performance improvement, in-depth studies about its fusion with other modalities are lacking. On hand, as new image view transformation strategy, "sampling" applied few image-based detectors shown to outperform widely "depth-based splatting" proposed...

The 4D millimeter-Wave (mmWave) radar is a promising technology for vehicle sensing due to its cost-effectiveness and operability in adverse weather conditions. However, the adoption of this has been hindered by sparsity noise issues point cloud data. This article introduces spatial multi-representation fusion (SMURF), novel approach 3D object detection using single imaging radar. SMURF leverages multiple representations points, including pillarization density features multi-dimensional...

According to the characteristic analysis of lithium-ion power battery, battery accelerate life test is carried out obtain relevant conclusions such as changing trend ohmic resistance in different conditions. Battery consequently set up Evaluation Index lifetime. equivalent model established aiming at real-time identification resistance. Based on this model, achieved by experimental collected data and recursive least squares algorithm. The adoption algorithm can be applied provide some useful...

In this technical note, an adaptive model predictive control (MPC) is proposed for unconstrained discrete-time linear systems with parametric uncertainties. The objective reference tracking. MPC designed by combining updating law estimated parameters and a constrained system. It proved theoretically that, the MPC, closed-loop system capable of tracking time-varying signals ultimately bounded errors, are bounded. Moreover, if constant, errors can be stabilized asymptotically. Performances...

A distributed guidance law is proposed to intercept multiple intruding targets by using rotary-wing unmanned aerial vehicles (UAVs). The based on the integration of classic parallel navigation and a velocity feedback. Direction-based potential functions are applied avoid inter-agent collisions mis-interceptions. It proved that, with law, each UAV capable intercepting its specific target within finite time nonzero hitting velocity, there exist neither nor Task allocation strategies allocate...

Multi-object tracking (MOT) is among crucial applications in modern advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. The global nearest neighbor (GNN) filter, as the earliest random vector-based Bayesian framework, has been adopted most of state-of-the-arts trackers automotive industry. development finite set (RFS) theory facilitates a mathematically rigorous treatment MOT problem, different variants RFS-based filters have then proposed. However, their...

This letter proposes a robust distributed model predictive control (MPC) strategy for formation tracking of group wheeled vehicles subject to constraints and disturbances. Formation has attracted significant interest because its applications in searching exploration [1], [2]. The objective is achieve the reference via interactions among agents. In tracking, MPC can be applied treat constrains. [3], by sharing information with neighbors, each agent uses generate desired trajectory without any...

In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The problem formulated in the leader-follower framework, where leaders have access to both their own and relative neighboring information, followers only information. process optimization, current information communicated between agents. For each agent, its predicted vector vectors are regarded as decision variables but optimized agent...