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Cascaded navigation control for agricultural vehicles tracking straight paths

International Journal of Agricultural and Biological Engineering 2014年第1期7卷 36-44页

作者： Hu Jingtao Li Taochang Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China

In precision agriculture(PA),an agricultural vehicle navigation system is essential and the navigation control accuracy is important in this *** straight path tracking is the major operating mode of agricultural vehicles on large fields,a cascaded navigation control method for straight path tracking is proposed in this ***,a cascaded navigation control structure for the agricultural vehicle was *** on this structure,the navigation control task was decomposed into two cascaded control tasks,namely,the path tracking control task and the steering control ***,a relative kinematics model of agricultural vehicles was deduced,and an optimal Proportional-Derivative(PD)method based on the deduced model was developed in the path tracking control ***,an improved PD method based on a transition process was proposed in the steering control task to enhance the performance of the steering control ***,the effectiveness and the superiority of the proposed method were verified by a series of *** of the experimental data analysis show that mean value of the lateral position deviation is 0.02 m and standard deviation of the lateral position deviation is 0.04 m,which proves that the proposed method has achieved satisfactory effects on the straight path tracking of agricultural vehicles.

关键词： agricultural vehicle navigation control relative kinematics model optimal PD controller improved PD controller

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Photothermally induced liquid gate with navigation control of the fluid transport

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Fundamental Research 2021年第6期1卷 800-806页

作者： Yuhang Han Yunmao Zhang Mengchuang Zhang Baiyi Chen Xinyu Chen Xu Hou State Key Laboratory of Physical Chemistry of Solid Surfaces and Department of ChemistryCollege of Chemistry and Chemical EngineeringXiamen UniversityXiamen 361005China Department of Physics Research Institute for Biomimetics and Soft MatterFujian Provincial Key Laboratory for Soft Functional Materials ResearchJiujiang Research InstituteCollege of Physical Science and TechnologyXiamen UniversityXiamen 361005China Tan Kah Kee Innovation Laboratory Xiamen 361102China

The ability to control multiphase flows is essential for applications such as microvalves,chemical analyses,mi-croreactors,and multiphase ***,more specific controls,including the positional naviga-tion control of fluids under steady-state pressures,will improve the development of these ***,we present a fundamentally new photothermally induced liquid gating system that allows light-controlled con-tactless fluid transport and gas/liquid separations at designated locations,with seconds response times,under constant *** and theoretical calculations demonstrate the stability of our system and its novel regulation mechanism,which is based on a photothermally induced liquid-reconfigurable gate with a change in the surface/interfacial tension and Marangoni flow redistribution of the gating liquid at the illuminated *** regulation mechanism with positional navigation properties requires neither mechanical parts nor complex accessories and can further enable the miniaturization and integration of various engineering *** ap-plication demonstrations confirm the potential of this system in fields of smart valves,multiphase separations,multiphase microreactors,and beyond.

关键词： Liquid gating navigation control Photothermally induced Marangoni flow Fluid transport

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H_∞ Robust Fault-Tolerant controller Design for an Autonomous Underwater Vehicle’s navigation control System

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Journal of Marine Science and Application 2010年第1期9卷 87-92页

作者：程相勤曲镜圆严浙平边信黔 Department of Automation Harbin Engineering University

In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

关键词： AUV navigation control robust H∞ fault-tolerant control gain variations LMI

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无人船信息处理及航行控制平台设计

无人船信息处理及航行控制平台设计

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作者：赵桂彬海南大学

学位级别：硕士

The remote control and autonomous navigation of Unmanned Surface Vehicles(USVs)rely on the USV's information processing and navigation control *** enhance the remote control and autonomous navigation capabilities of USVs,this thesis addresses the issues of simultaneously processing data from multiple sensors,requiring rapid response from actuation mechanisms,dealing with complex scheduling logic,and meeting high requirements for real-time and parallel program execution.A Field Programmable Gate Array(FPGA)that offers excellent real-time performance and high parallelism is chosen as the main controller for the design and development of the USV's information processing and navigation control *** platform is then installed on an in-house developed USV for sea trials to verify its *** primary tasks of this thesis are as *** of USV information processing *** is written based on the communication timing of the voltage collection chip to achieve high-speed and accurate collection and reading of multi-channel voltage *** information is packaged into Ethernet packets to establish a remote connection between the USV and the shore-based *** this foundation,the reception and transmission of serial information are implemented in line with the serial communication protocol timing.A serial information parsing module is designed based on the concept of state machines,which allows for frame splitting and data reading that contains specific frame header *** of USV navigation control *** for various components of the control power system are selected based on the USV's power system characteristics,and an actuator drive program is written to enable navigation control of the *** thesis stores and parses the heading angle from the current position to the target waypoint based on the route provided by the upper-level *** USV's turning direction is controlled by the ta

关键词： USV FPGA Information Processing navigation control

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