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Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle

浙江大学学报(英文版)A辑:应用物理与工程 2023年第9期24卷 749-761页

作者： Yujin WU Kangjian SHAO Ning WANG Zhongchao DENG Science and Technology on Underwater Vehicle Laboratory Harbin Engineering UniversityHarbin 150001China School of Marine Engineering Dalian Maritime UniversityDalian 116026China

Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes challenging.In this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time control(IDFLOS-FC)scheme is presented for path following of sailboats.The salient features of the proposed IDFLOS-FC scheme are as follows:(1)Considering the problem of actuator failure,an actuator failure model is introduced into the dynamics model of a sailboat.(2)The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers(DFSOs),which reduces the error in line-of-sight(LOS)guidance.(3)A radial basis function(RBF)neural network is used to fit the uncertainty of the model,and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory,so that the controller has accurate tracking and interference suppression.(4)According to the Lyapunov method,the system is finite-time stable.Finally,simulation was used to validate the effectiveness of the method.

关键词： Sailboat sideslip angle sideslip angle observer Finite-time control(FC) Path following

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Estimation of Vehicle sideslip angle with Adaptation to Road Bank angle and Roll angle

Estimation of Vehicle Sideslip Angle with Adaptation to Road...

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2014中国汽车工程学会年会

作者： Ling Jie Chen Hui Xu Fan School of Automotive Studies & Clean Energy Automotive Engineering Center Tongji University

ISBN: (纸本)9783662450420

The road bank angle and roll angle have direct influence on the vehicle’s lateral motion.As a result,the accuracy of sideslip angle estimation can be improved through estimation of road bank angle and roll angle.In this paper,estimation of vehicle sideslip angle with adaptation to road bank angle and roll angle is achieved through a proposed Kalman filter at low cost based on the combination of dynamic model and kinematic model,which is developed from a three-freedom model of lateral,yaw and roll motion.Promising are the simulation results displayed in this paper.

关键词： sideslip angle road bank angle roll angel Kalman filter low cost sensors

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Estimation and Simulation Analysis of the sideslip angle of Intelligent Vehicle under Unstructured Road Environment

Estimation and Simulation Analysis of the Sideslip Angle of ...

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作者： Jian-feng WANG Bing ZHANG College of Mechanical Engineering Xijing University

Vehicle sideslip angle is one of the important variables to describe the vehicle’s lateral motion state,and it is also difficult to estimate accurately.In order to solve the difficult problem of direct measurement of intelligent vehicle sideslip angle in unstructured road environment,a 3-DOF vehicle Dynamics model was established,Carsim and Matlab were also used to construct the parametric model of vehicle.Based on the extended Kalman filter（EKF） algorithm,the State observer was used to estimate the sideslip angle of the intelligent vehicle.In the case of emergency shift,the estimation effect of State observer is verified by joint simulation.The simulation results show that the proposed method can accurately estimate the sideslip angle of the intelligent vehicle.

关键词： Intelligent vehicle sideslip angle Unstructured road Estimation

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Performance of wavecatcher intakes at angles of attack and sideslip

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Chinese Journal of Aeronautics 2021年第7期34卷 244-256页

作者： Fengyuan ZUO Sannu MO LDER Gang CHEN State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi’an Jiaotong UniversityXi’an 710049China Ryerson University Toronto ON M5B 2K3Canada

A wavecatcher type scramjet intake,that reduces the Mach number number from 4 to 1.552,is used as the basis for a study of flow starting/unstarting as affected by freestream angles of attack and sideslip.The intake design is based on a morphed streamtube consisting of two conical flow streamlines using streamline tracing and osculating axisymmetric design theory.Intake flow and performance is modeled using the numerical CFD code and the k-e turbulence model.The intake unstarts at a sideslip angle of 2,a positive angle of attack of 1.Both positive angle of attack and sideslip angle have an adverse effect on the startability of the MBus intake.At negative angles,the intake initially unstarts at5angle of attack,due to the thickened shear layer induced by the streamwise vortex.Then it re-starts at8angle of attack,mainly due to the expansion fan formed at the leading edge,causing the shock wave structures inside the intake to be reestablished.

关键词： angle of attack sideslip angle Unstart Wavecatcher intake

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维普期刊数据库

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Estimation of sideslip angle with Tire-road Friction Adaptation Using Nonlinear Observability Theory

Estimation of Sideslip Angle with Tire-road Friction Adaptat...

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2020中国汽车工程学会年会暨展览会

作者： Xu Fan Chen Hui Wang Xiang Xiong Junxi GAC Automotive Research & Development Center School of Automotive Studies Tongji University

A lot of effort has been put into estimating sideslip angle in varying road friction conditions,but the problem of estimating the tire-road friction coefficient under small tire slip angles has been rarely addressed.An inaccurate estimate of the tire-road friction coefficient,when applied to the estimation of sideslip angle,could cause large errors in the result.This paper studies the estimation of the tire-road friction coefficient in the context of adaptive estimation of the sideslip angle.The nonlinear observability theory is used to analyze the local observability of the system with an augmented state vector that includes the tire-road friction coefficient.The connection between local observability and lateral tire force characteristics is established based on the results of the observability analysis.By studying the performance of the combined state and parameter estimator under weak observability conditions,a modification to the estimator is proposed to keep the observability of the system in an acceptable level even when tire slip angles are small,so that the tire-road friction coefficient can be properly estimated.Test results show that the modified algorithm can effectively improve the accuracy of estimating the sideslip angle under complicated road friction conditions.

关键词： nonlinear observability friction coefficient dual extended Kalman filter sideslip angle

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State Estimation of the Electric Drive Articulated Dump Truck Based on UKF

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Journal of Harbin Institute of Technology(New Series) 2015年第6期22卷 21-30页

作者： Chun Jin Tong Liu Yanhua Shen School of Mechanical Engineering University of Science and Technology Beijing

The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck and nonlinear characteristics of moving vehicles,nonlinear observer of vehicle status is designed to strength robustness of dynamic control system in this paper. A 4-degree-of-freedom nonlinear dynamic model of articulated electric drive vehicle is built as reference model to estimate the state of the articulated vehicle. And by adopting Unscented Kalman Filter( UKF) algorithm,a series of state parameters such as longitudinal velocities of front and rear frames,yaw rate and side-slip angle are estimated. During the test of 60 t articulated electric drive vehicle,2 inertial navigation modules are installed in the front frame and rear frame respectively and the speed of each electric drive wheel is obtained simultaneously. As the test results suggest,in various working conditions,the algorithm based on UKF is able to accurately estimate the state parameters of articulated vehicle with the estimated error less than 5%. The proposed method is justified to be the theoretical basis and application guidance for articulated vehicle stability control.

关键词： articulated dump trucks nonlinear observer soft measurement Unscented Kalman Filter sideslip angle

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维普期刊数据库

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Estimation of Vehicle sideslip with Adaptation to Tyre Cornering Stiffness and Road Friction Coefficient Uncertainty

Estimation of Vehicle Sideslip with Adaptation to Tyre Corne...

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2013中国汽车工程学会年会

作者： Xu Fan Chen Hui Gao Bolin Clean Energy Automotive Engineering Center ＆ School of Automotive Studies Tongji Univeristy China

＜正＞The disadvantage of the model based sideslip angle estimator is that its performance is susceptible to model uncertainties. In this paper,an estimator that estimates both the sideslip angle and unknown parameters is designed based on dual extended Kalman filter.The necessity to estimate the tyre-road friction coefficient together with the tyre cornering stiffness is discussed.The desired balance between the convergence rates of these two parameters is also studied.The benefit of abrupt change detection is then illustrated. Through simulation,it is shown that the proposed sideslip angle estimation algorithm is effective in compensating for model inaccuracies.

关键词： sideslip angle Cornering stiffness Friction coefficient Kalman filter Abrupt change detection

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Road Friction Coefficient Estimation by Using Lateral Dynamics Based on In-wheel Motor Driven Electric Vehicle

Road Friction Coefficient Estimation by Using Lateral Dynami...

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2015中国汽车工程学会年会

作者： Na Li Hui Chen Fan Xu School of Automotive Studies and Clean Energy Automotive Engineering Center Tongji University

By adopting a measurement noise adaptive Kalman filter and using the accurate information of driving torque provided by in-wheel motor driven electric vehicles,the tire longitudinal forces are extracted.Meanwhile,this paper puts forward a method to modify the original Dugoff tire model to expand the tire force working range as well as improve the precision.Then,the joint estimation of road friction and vehicle sideslip angle is carried out based on a reduced-order extended Kalman filter with longitudinal forces as inputs.Simulation results show that the algorithm can accurately estimate road friction coefficient when vehicle is under lateral dynamics.

关键词： road friction coefficient longitudinal forces modified dugoff tire model sideslip angle extended Kalman filter

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A Novel Integral Terminal Sliding Mode Control of Yaw Stability for Steer-by-Wire Vehicles

A Novel Integral Terminal Sliding Mode Control of Yaw Stabil...

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第37届中国控制会议

作者： Liheng Shi Hai Wang Yunzhi Huang Xiaozheng Jin Shuanglong Yang Hefei University of Technology

In this paper, a novel integral terminal sliding mode control scheme is developed, to enhance the yaw stability of a steer-by-wire（Sb W） vehicle. A yaw rate controller using integral terminal sliding mode control（ITSMC） strategy is designed based on the tracking error between the actual yaw rate and the desired yaw rate. Because the required sideslip angle information is difficult to measured directly for practical applications, a sliding mode observer（SMO） based on a two-wheel bicycle model is proposed to estimate the sideslip angle accurately. The uniqueness of the proposed control is that not only are the high tracking precision and strong robustness of the Sb W vehicles against system nonlinearities and disturbances achieved, but also the fast error convergence can be ensured. Simulation results based on Matlab and Car Sim are demonstrated to verify the excellent yaw tracking and anti-interference performance of the proposed controller.

关键词： steer-by-wire（Sb W） integral terminal sliding mode control（ITSMC） yaw rate controller sideslip angle sliding mode observer（SMO） Car Sim

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