Adapting to the navigational high-precision tracking tasks, this paper develops an event-triggered adaptive neural asymptotic control framework for underactuated ships. The prescribed performance (PPC) technique is employed address spatial constraints in navigation, where positional errors are transformed via transformation functions. By using approximation of radial basis function networks (RBF NNs) form minimum learning parameters (MLPs), uncertainties coming from unknown model dynamics,...

The suspension system is an important component of any vehicle as it transmits the force and torque between wheel frame, satisfying requirements ride comfort handling stability. To solve problem active control, a seven-degree-of-freedom model with electrohydraulic actuators established. Through approximate expansion in rolling time domain, robust predictive controller (RMPC) for designed RMPC deduced by defining performance evaluation function. A fractional PID used to control hydraulic...

This paper studies multiple inverse kinematics solutions for a 7-DOF human redundant manipulator with special joint configuration. A method is proposed determining the continuous angle vector by selecting solution from discrete to end path of mechanical arm. The elbow constraint introduced, and mapping relationship established. Subspaces are found in spaces avoid joints exceeding limit obtain interval, then combined collision detection technique, subspaces sought collisions between robotic...

To reduce energy consumption in the active suspension, this paper proposes a new method for vehicle suspension control. The characteristics of coupling system is analyzed. On basis, finite time controller based on unknown state estimation proposed, and its global convergence proved, upper limit given. Secondly, Analytic Hierarchy Process (AHP) force random walk PSO algorithm (FRWPSO), multi-objective optimization function constructed to determine control parameters under different driving...

A control strategy with the strong adaptability is crucial to maintain stable body attitude, when vehicle encountering various complex road inputs. This article based on theory that centroid of cheetah's always moves in a straight or curved line running wild, and studies vehicle’s active suspension. Firstly, relationship matrix between forces actuators virtual maintains stabilization attitude derived, which Moore Penrose inverse matrix. Secondly, due numerous nonlinearities, uncertain...

This paper aims to solve the problems of poor mobility, passability, and stability in heavy-duty vehicles, proposes an active suspension system control strategy based on position–force feedback optimal coordinately enhance vehicle passability wheel grounding performance. Firstly, a two-degrees-of-freedom one-sixth model valve-controlled hydraulic actuator are constructed, advantages impedance robot compliance integrated analyze their applicability suspension. Next, position controller force...

A semi-active suspension variable damping control strategy for heavy vehicles is proposed in this work. First, a nine-degree-of-freedom model of and stochastic road input mathematical are established. Second, using 1/6 vehicle as an example, system with that can be adjusted actively designed proportional relief throttle valves. The dynamic characteristics the time to establish force studied through simulation. Finally, based on actuator motion state adjust therefore satisfy vibration...

Remote-control robotics using bilateral control is useful in restoring damaged areas and extreme environments such as space, the seabed, deep underground. This study deals with a master-slave system for tele-operated construction robot. The consists of an excavator, robot, two joysticks operating robot from remote place. A fork glove on front excavator acts hand grasping objects. master slave correspond, to controlled by operator. In control, operator must feel force feedback realistically....

An active suspension system is important in meeting the requirements of ride comfort and handling stability for vehicles. In this work, a nonlinear model corresponding robust predictive sliding mode control are established problem suspension. Firstly, seven‐degree‐of‐freedom considering effects springs dampers; secondly, dynamic expanded time domain, established. The uncertainties controller approximated by fuzzy logic system, adaptive reduces approximation error to increase robustness...

Electromechanical actuator (EMA) systems are widely employed in missiles. Due to the influence of nonlinearities, there is a flat-top about 64 ms when tracking small-angle sinusoidal signals, which significantly reduces performance EMA system and even causes missile trajectory oscillate. Aiming solve these problems, this paper presents hybrid control for situations. In contrast traditional PID or sliding mode controllers that missiles usually use, utilizes improved based on novel reaching...

In this paper, an integrated anti-rollover control strategy is proposed to solve the rollover stability problem of emergency rescue vehicles. The performed on Active suspension system and multi-axle steering system. Firstly, establish eleven-degree-of-freedom coupled dynamic model for vehicle; Secondly, H ∞ /generalized 2 output feedback controller designed, LQR designed; upper level coordinated fuzzy designed again, used integrate test results show that, compared with uncontrolled vehicle,...

Road input can be provided for a vehicle in advance by using an optical sensor to preview the front terrain and suspension parameters adjusted before corresponding moment keep body as smooth possible thus improve ride comfort handling stability. However, few studies have described this phenomenon detail. In study, LiDAR coupled with global positioning inertial navigation systems was used obtain digital of form 3D point cloud, which processed statistical filter Point Cloud Library acquisition...

This study proposes a coordinated control strategy to solve the coupling problem between multi-axle steering system and active suspension of emergency rescue vehicles. Firstly, an eleven-degree-of-freedom model vehicle is established. Secondly, dual sliding mode (DSM) controller designed for linear quadratic regulator (DLQR) system. Finally, designed, weight values are selected using fuzzy algorithm. Results show that compared with individual control, root mean square (RMS) value body roll...

This study proposes the active suspension control strategy of heavy rescue vehicles based on multi-sensor information fusion to address problem poor ride comfort and stability unstructured pavement. Firstly, an attitude algorithm with acceleration compensation is designed. According driving speed, appropriate cut-off frequency filter selected, extended Kalman designed complete optimal estimation position information. Secondly, vehicle nine degree freedom model established, inverse matrix...

Abstract Digital terrain models based on light detection and ranging (LiDAR) are widely used in ground robots to achieve autonomous navigation. Very few studies have been conducted modelling for preview information, which acts as an input a vehicle’s active suspension system. In this study, we proposed algorithm construct real-time model from multi-frame LiDAR points according the applications control. The consisted of elevation map with confidence intervals feature detection. First,...

This paper proposes an attitude control strategy based on road level for heavy rescue vehicles. The aims to address the problem of poor ride comfort and stability vehicles in complex conditions. Firstly, with pressure suspension hydraulic cylinder chamber without a piston rod as parameter, Takagi–Sugeno fuzzy controller classification adaptive network-based inference system are used recognise level. Secondly, particle swarm optimisation is adopted obtain optimal parameters active vehicle...

A remote control robotic system using bilateral is useful for performing restoration in damaged areas. The consists of an excavator as the construction robot, and two joysticks operating robot from a safe place. fork glove equipped with front end hand grasping task objects. master slave this correspond to, respectively, controlled by operator. Two CCD cameras side can carry spot information to operator receives message monitors. In such system, needs feel realistic sense force brought about...

A tele-operation robotic system using bilateral control is useful for performing restoration in damaged areas, and also extreme environments such as space, the seabed deep underground. The consists of an excavator construction robot, two joysticks operating robot from a safe place. Operator needs to feel realistic sense task force brought about feedback fork glove. new model proposed between glove based on velocity cylinder determine environment acting Namely, reaction formed by error...

Electronic control unit(ECU) of blend brake system based on electro-hydraulic servo for heavy vehicle is designed and analyzed in this paper. The study makes full consideration the requirements high speed, weight fast braking vehicle. Through collected speed signals pressure output by main cylinder, ECU analyses judges logic relation between oil speed. Park emergent are accomplished way coordinating hydraulic decelerator disc brake. has many advantages, such as response, good reliability...