This paper is focused on planning fast, accurate, and optimal trajectories for autonomous parking. Nominally, this task should be described as an control problem (OCP), wherein the collision-avoidance constraints guarantee travel safety kinematic tracking accuracy. The dimension of nominal OCP high because it requires vehicle to avoid collision with each obstacle at every moment throughout entire parking process. With a coarse trajectory guiding homotopic route, intractably scaled are...

In a dynamic environment, moving to the destination safely and effectively is of paramount importance for an unmanned ground vehicle (UGV). This article presents strategy trajectory planning tracking that aims ensure UGV's safety in uncertain environment. Specifically, based on initial environment information, global optimal connecting start predefined by artificial fish swarm algorithm (AFSA). presence unforeseen obstacles, trial-based forward search (TFS) Markov chain proposed local...

This paper presents a fault-tolerant control (FTC) strategy for hypersonic gliding vehicle (HGV) subject to actuator malfunctions and model uncertainties. The control-oriented of the HGV is established according kinematic aerodynamic models. A composite-loop design FTC under faults subsequently developed, where newly developed multivariable integral terminal sliding-mode (TSMC) adaptive techniques are integrated. TSMC capable ensuring finite-time stability closed-loop system in presence...

In the back electromotive force (EMF)-based sensorless control of interior permanent magnet synchronous motor (IPMSM), inverter nonlinearity and flux linkage spatial harmonics will possibly give rise to (6k ± 1)th in estimated EMF, especially fifth seventh harmonics. Those consequently introduce (6k)th harmonic ripples rotor position, sixth component. order solve this problem, a bilinear recursive least squares (BRLS) adaptive filter is proposed integrated into sliding-mode position observer...

Aiming to suppress the influence of uncertain disturbances in drive control permanent magnet synchronous machines (PMSM), such as parameter uncertainties and load disturbance, a robust anti-interference for angular position tracking PMSM servo system has been proposed this paper. During tracking, being regarded lumped unknown term will be online observed by nonlinear disturbance observer (NDOB), which consequently counteracted backstepping compensator (RBC). The asymptotical stability scheme...

This paper presents a fusion control strategy of adaptive cruise (ACC) and collision avoidance (CA), which takes into account driver's behavioral style. First, questionnaire survey was performed to identify driver type, the corresponding driving data were collected via simulator experiments, served as template for online identification type. Then, driver-adaptive ACC/CA designed, its effect verified by virtual experiments. The results indicate that proposed could achieve ACC CA successfully...

This article proposes a global delay compensation method to improve the sensorless control performance of square-wave voltage injection (SWVI) over low switching frequency applications. The cost function with information is preliminarily constructed by simple calculation high-frequency (HF) <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">αβ</i> -axes current and estimated position; second, minimized gradient descent method, so as estimate...

This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on quantization system capability margin. First, trajectory function is constructed online with backpropagation dynamics. Therefore, degraded gracefully regenerated, via tradeoff between remaining expected derivatives (velocity, jerk, snap) trajectory. Second, control-oriented model established into form strict feedback, integrating...

Inter-turn short circuit (ITSC) is a common fault in electrical machines, which may result further devastation to the whole winding and magnets. In this article, method for real-time residual insulation capacity monitoring of ITSC permanent magnet synchronous machines (PMSMs) proposed, robust speed/torque variation independent machine parameters extra sensors. It based on theory that initiates as an deterioration among adjacent turns severity can be described by being relevant 2nd harmonic...

This paper focuses on the controller design using fuzzy sliding mode control (FSMC) with application to electro-mechanical brake (EMB) systems BLDC Motor. The EMB transmits signal motor driver rotate motor. torque distribution of motors is studied in this actually. Firstly, model system established. Then state observer developed estimate vehicle states including velocity and longitudinal force. Due fact that nonlinear uncertain, a FSMC strategy based wheel slip ratio proposed, where both...

Fast and reliable initial rotor position detection is essential for restarting sensorless permanent magnet synchronous motors (PMSMs) in free-running condition. In this article, a fast estimation method low-speed motor proposed, which utilizes combined sinusoidal current square-wave voltage injection method. The imposed into the estimated d-axis to magnify magnetic saturation effect. amplitudes of caused by injected are then accumulated. large difference two integrated signals positive...

In this article, a virtual high-frequency signal injection based searching method is proposed to derive the optimal current angle for maximum efficiency per ampere control of interior permanent magnet synchronous machine (IPMSM) drive system. It injects small square wave HF into mathematical model IPMSM system including both electrical and inverter, by which could be accurately derived afterward. finally tested on 1-kW prototype shows good accuracy dynamic performance while loss torque...

An optimal control problem is a straightforward description of generic automatic parking maneuver planning scheme. However, the dimensionality usually high, primarily because large-scale collision avoidance constraints. Among complete constraints, some parts are redundant ego vehicle may not be subject to collisions with all obstacles at every moment. idea simplify constraints plan coarse path/trajectory, and then construct surrounding corridor which naturally separates from obstacles. This...

This paper presents a trajectory planning strategy for collision avoidance in unmanned aerial vehicles. First, varying cell is proposed to integrate aerodynamic constraints into planning. Basic actions the are adapted accordingly go through different cells, enabling more flexible maneuvers. Second, given limited decision-making time involved, offline and online path methods developed increase convergence rate. Finally, Monte Carlo simulations demonstrate that method satisfies constraints,...

On-road trajectory planning is a critical module in an autonomous driving system. Instead of using path-velocity decomposition or longitudinal-lateral strategy, this work aims to find directly. We adopt sampleand-search planner get coarse and then polish it via numerical optimization. Among the predominant planners, most sampling operations are not flexible, which inevitably lead solution failure if density low, suffer from curse dimensionality set high. This proposes modified RRT* for...