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Lane-keeping system design considering driver's nervousness via scene analysis

IET INTELLIGENT TRANSPORT SYSTEMS 2020年第10期14卷 1171-1182页

作者： Li, Bin Zhang, Jianwei Zhang, Ce Pan, Wei Cai, Shuo Liu, Yang Li, He Jilin Univ State Key Lab Automot Simulat & Control Changchun 130025 Peoples R China KH Automot Technol Co Ltd Changchun 130012 Jilin Peoples R China Natl Digital Switching Syst Engn & Technol Res Ct Zhengzhou 450001 Peoples R China Jilin Univ Dept Control Sci & Engn Changchun 130022 Jilin Peoples R China Tongji Univ Coll Elect & Informat Shanghai 201804 Peoples R China

To alleviate the driver's nervousness, a lane-keeping algorithm based on scene analysis is proposed. From the driver's point of view, two key parameters are studied, which are the distance between the traffics car and the lane centreline of the host car, and the time-gap difference between the host car and the traffic car. The designed scene analysis algorithm is mainly based on these two parameters to screen out dangerous traffic vehicles. To ensure driving comfort when driving states change, a five-power polynomial is used to plan a smooth path based on the location of the dangerous traffic vehicle. Considering the real-time and robustness of the control algorithm, this study proposes a feedforward and feedback control architecture combined with the preview-following theory. To verify the algorithm, a variety of typical tests are designed. The experimental results show that the algorithm can make the vehicle smoothly follow the planning path.

关键词： feedforward road vehicles road safety path planning feedback automobiles mobile robots road traffic collision avoidance traffic engineering computing lane-keeping system design driver lane-keeping algorithm traffics car lane centreline host car time-gap difference traffic car designed scene analysis algorithm dangerous traffic vehicle driving comfort driving states change robustness control algorithm feedforward feedback control architecture

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Performance of the xenon feed system on Deep Space One

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JOURNAL OF SPACECRAFT AND ROCKETS 2000年第3期37卷 392-398页

作者： Ganapathi, GB Engelbrecht, CS CALTECH Jet Prop Lab Pasadena CA 91109 USA PRIMEX Aerosp Corp Redmond WA 98073 USA

Propulsion for the Deep Space One (DS1) spacecraft is provided by a xenon ion engine. Xenon is stored in a supercritical state and is delivered as a low-pressure gas to the thruster and two cathodes (called the main cathode and neutralizer) by a xenon feed system (XFS). This mission requires tight constraints on thruster performance, which in turn requires separate and very accurate throttling of the thruster and cathode flows;the DS1 spacecraft is the first of its type to utilize a xenon ion engine that can be throttled. Flow is regulated separately to the thruster and cathodes to an accuracy of +/-3% using three calibrated flow control devices that are each fed by a dedicated plenum tank. Bang-bang regulators are used to control the set pressures in the plena. The resulting XFS control algorithms are quite complex. The XFS is controlled by a digital control interface unit and the control algorithm for achieving steady-state xenon flow is presented. The worst-case error in flow is shown to be less than +/-3%, accounting for random and systematic errors. At the time of writing, the individual components are in excellent health and the performance of the XFS is as expected.

关键词： Xenon Feed System Digital control and Interface Units control algorithm Pressure Transducers Solenoids Temperature Sensors Telemetry National Institute of Standards and Technology Solenoid Valves Absolute Temperature

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Scanning horizon sensor attitude correction for earth oblateness

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JOURNAL OF GUIDANCE control AND DYNAMICS 1996年第3期19卷 706-708页

作者： Tekawy, JA Wang, P Gray, CW AEROSP CORP DEPT ELECTROMECH CONTROLTECH STAFFEL SEGUNDOCA 90245 AEROSP CORP FLIGHT SOFTWARE VALIDAT DEPTEL SEGUNDOCA 90245

Earth oblateness contributes significant effects on the sensor measurement errors, which propagate directly to the satellite attitude estimates. This paper shows a complete and simple method to determine and correct r... 详细信息

关键词： Earth Horizon Sensors Synchronous Satellite Robots Flight Software Feedback control Rigid Spacecraft Propellant control algorithm Horizon Scanners

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Altitude for maximum angular velocity about the Earth during hypersonic cruise

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JOURNAL OF GUIDANCE control AND DYNAMICS 1996年第5期19卷 1193-1195页

作者： Markopoulos, N Mease, KD PRINCETON UNIV DEPT MECH & AEROSP ENGN PRINCETON NJ 08544 USA

This study identifies an altitude that for hypersonic cruising flight results in maximum angular velocity about a nonrotating planet. This altitude depends on the wing loading of a vehicle and on its combined aerodynamic coefficient. Increasing the former or decreasing the latter lowers the value of this altitude and raises the value of the corresponding maximum angular velocity. The present results can be modified to identify an altitude resulting in the maximum angular velocity about a planet while at the same time satisfying all constraints. (AIAA)

关键词： Earth Aerodynamic Coefficients Angle of Attack Satellites Aerospace Engineering Electrodynamic Tether Mathematical Models control algorithm Cruise Altitude Flight Path Angle

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Fully Autonomous Indoor Flight Relying on Only Five Very Low-Cost Range Sensors

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2013年第1期10卷 21-31页

作者： Chowdhary, Girish Sobers, D. Michael, Jr. Salauen, Erwan Ottander, John A. Johnson, Eric N. Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

Answering what is the bare minimum combination of avionics and vehicle platform design that enables useful autonomous indoor flight without a Global Positioning System (GPS) is required to understand the lower-cost bounds for indoor unmanned aerial system (UAS) technology. The GT Lama indoor UAS, capable of autonomously exploring indoor areas in the GPS-denied environment discussed here, was designed in an attempt to answer this question. The GT Lama weighs around 600 g (1.3 lb), has a diameter of approximately 70 cm (27.6 in.), and costs less than 900 U. S. dollars. Cost and weight savings are realized through development of an innovative indoor guidance, navigation, and control algorithm that uses only five small off-the-shelf low-cost range sensors rather than expensive and sophisticated sensors such as inertial measurement units, scanning laser range sensors, and GPS. The onboard software leverages the inherent stability of the coaxial rotorcraft platform and fuses information from the low-fidelity range sensors to detect and follow walls and other stationary obstacles. The algorithms are designed to encourage maximum exploration of the perimeter of an indoor environment in a reasonable amount of time. The avionics design and the guidance, navigation, and control algorithms used are discussed in detail and validated through flight tests.

关键词： Autonomous Indoor Flight Infrared Sensors Rotorcrafts Flight Testing GPS Microelectromechanical Systems control algorithm IMU Unmanned Aerial Systems Proportional Integral Derivative

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Nonlinear six-degree-of-freedom aircraft trim

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JOURNAL OF GUIDANCE control AND DYNAMICS 2000年第2期23卷 305-311页

作者： Elgersma, MR Morton, BG Honeywell Inc Honeywell Technol Ctr Minneapolis MN 55418 USA

When computing numerical trim solutions, it is difficult to know if all possible trim solutions have been found. This paper presents closed-form formulas for computing all possible trim values for sis-degree-of-freedom nonlinear aircraft models. The models include gravity, nonlinear angular rate terms, and tabular aero functions. However, the models are linear in four functions of the four inputs (thrust, aileron, elevator, rudder). The four independent control inputs lead to a four-dimensional trim set. In the subsonic case where the Mach dependence of the aero functions can be ignored, the four-dimensional trim set is parameterized by (pitch angle, rod angle, angle of attack, sideslip angle) giving at most two real trim values for each set of fixed values of these four parameters. When the Mach dependence of the aero functions needs to be considered, the four-dimensional trim set is parameterized by (speed, angle of attack, sideslip angle, and heading angular rate) giving up to eight trim values for each fixed set of values of these four parameters. The advantage of these closed-form computations, over more numerical methods, is that they give all possible solutions values.

关键词： Aircrafts Six Degree of Freedom Angle of Attack control Surfaces Sideslip Angle Computing Mach Number Singular Value Decomposition control algorithm Heading Angle

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Formation Flight in Complex Environments Using an Artificial Potential Field

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2021年第7期18卷 464-475页

作者： Du, Zhihui Zhao, Duo Shi, Jingping Lu, Jingchao Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China

Studied here is the problem of multiple unmanned aerial vehicles flying in formation in an environment containing many obstacles and threats. Two schemes are proposed for avoiding obstacles: formation dissolution and formation change. The improved interfered fluid dynamical system approach is used to guide the unmanned aerial vehicles to their destination safely, and an artificial potential field is used for formation forming and re-forming and to avoid intervehicle collisions. Straightforward and effective control algorithms are designed for the two schemes. Unlike other algorithms, the proposed method can be applied to different scenarios with no additional requirements, such as having to have different controllers for different situations. Finally, two simulation experiments are provided to validate the effectiveness of the proposed control algorithms.

关键词： Artificial Potential Fields UAV control algorithm Model Predictive control Path Planning Radar Detection Particle Swarm Optimization Heading Angle Flight Path Angle Autopilot

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Tracking Dynamic Star Curves Using Guidance Vector Fields

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JOURNAL OF GUIDANCE control AND DYNAMICS 2017年第6期40卷 1488-+页

作者： Frew, Eric W. Lawrence, Dale Univ Colorado Dept Aerosp Engn Sci Boulder CO 80309 USA

The method proposed in this study is motivated by aerial robots that operate in three dimensions but can easily be applied to other types of autonomous systems like underwater vehicles. The control approach is constructive in nature and guarantees stable convergence to the desired limit cycle by design. The study describes the constructive method for deriving stable vector fields for a class of star-shaped one-dimensional curves embedded in higher-dimensional space. The main application of interest is unmanned system guidance, so the study focuses on closed curves in three-dimensional space.

关键词： Cylindrical Coordinate System Autonomous Systems control algorithm Tracking control Unmanned System Dynamic Soaring Aerial Robots MATLAB

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Feasible flight paths for cooperative generation of a phantom radar track

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JOURNAL OF GUIDANCE control AND DYNAMICS 2006年第3期29卷 653-661页

作者： Purvis, Keith B. Chandler, Phillip R. Pachter, Meir Univ Calif Santa Barbara Dept Mech & Environm Engn Santa Barbara CA 93106 USA USAF Res Lab VACA Wright Patterson AFB OH 45433 USA USAF Inst Technol Dept Elect & Comp Engn Wright Patterson AFB OH 45433 USA

Electronic attack on air defense radar networks by electronic combat air vehicles (ECAVs) is considered. The scope of the attack is the creation of a coherent phantom track in two dimensions-range and azimuth-by a team of cooperatively controlled ECAVs, each capable of intercepting and sending delayed returns of radar pulses. It is first shown that assuming constant speeds for the phantom track and ECAVs severely restricts where the ECAVs can fly. Accordingly, general dynamic and spatial limitations on an ECAV are developed given ranges on the ECAV speed, phantom track speed, and ECAV region of antenna operation;six dynamical systems are also constructed for simulating feasible ECAV trajectories to test the analytical limitations. This theory is applied to construct detailed flyable ranges for an ECAV generating a straight and a circular phantom track, separately. Based on distilling the results, generalized bounds are presented-independent of the phantom track type-for the initial conditions and time-dependent flyable ranges of a team of ECAVs. These bounds are then used with coordination functions to informally solve an illustrative decentralized cooperative control problem in which the ECAV team seeks an optimal straight phantom track to minimize their bounds-dependent aggregate cost.

关键词： RADAR Antennas Combat Air Vehicle Inverse Problems Heading Angle Air Vehicle Electronic Warfare control algorithm Fuel Consumption Aviation

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One-day ahead predictive management of building hybrid power system improving energy cost and batteries lifetime

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IET RENEWABLE POWER GENERATION 2019年第3期13卷 482-490页

作者： Habib, Mustapha Ladjici, Ahmed Amine Bollin, Elmar Schmidt, Michael USTHB Dept Elect Engn Algiers Algeria Univ Appl Sci Offenburg Inst Energy Syst Technol Offenburg Germany

In recent times, the energy consumed by buildings facilities became considerable. Efficient local energy management is vital to deal with building power demand penalties. This operation becomes complex when a hybrid energy system is included in the power system. This study proposes new energy management between photovoltaic (PV) system, Battery Energy Storage System (BESS) and the power network in a building by controlling the PV/BESS inverter. The strategy is based on explicit model predictive control (MPC) to find an optimal power flow in the building for one-day ahead. The control algorithm is based on a simple power flow equation and weather forecast. Then, a cost function is formulated and optimised using genetic algorithms-based solver. The objective is reducing the imported energy from the grid preventing the saturation and emptiness of BESS. Including other targets to the control policy as energy price dynamic and BESS degradation, MPC can optimise dramatically the efficacy of the global building power system. The strategy is implemented and tested successfully using MATLAB/SimPowerSystems software, compared to classical hysteresis management, MPC has given 10% in energy cost economy and 25% improvement in BESS lifetime.

关键词： hybrid power systems load flow pricing genetic algorithms optimisation photovoltaic power systems energy management systems energy storage building management systems power system control predictive control battery storage plants day ahead predictive management building hybrid power system batteries lifetime recent times buildings facilities efficient local energy management building power demand penalties hybrid energy system photovoltaic system Battery Energy Storage System power network PV BESS inverter explicit model predictive control MPC optimal power flow control algorithm simple power flow equation weather forecast cost function optimised using genetic algorithms-based imported energy control policy energy price dynamic global building power system classical hysteresis management energy cost economy BESS lifetime

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