Autodrive Land Vehicle Control by Using PID

In towards industry 4.0, the autodrive vehicle is needed to give people relaxed driving. There are many research in autodrive vehicle such as waymo-the Google driving car project and Tesla Self Driving Autopilot. In This paper is presented about Autodrive Land Vehicle (ALV) control by using PID. The autodrive Land vehicle can drive autonomously by using GPS Information such as Latitude and longitude to navigate in an area. The vehicle is controled to follow the given waypoint that set by operator on ground control station. PID control is used to control steering of the vehicle\u27s front wheel and to control the heading of the vehicle. From the Implementation result, it is obtained that the vehicle could track the given waypoint with small error

Autodrive Land Vehicle Control by Using PID

In towards industry 4.0, the autodrive vehicle is needed to give people relaxed driving. There are many research in autodrive vehicle such as waymo-the Google driving car project and Tesla Self Driving Autopilot. In This paper is presented about Autodrive Land Vehicle (ALV) control by using PID. The autodrive Land vehicle can drive autonomously by using GPS Information such as Latitude and longitude to navigate in an area. The vehicle is controled to follow the given waypoint that set by operator on ground control station. PID control is used to control steering of the vehicle’s front wheel and to control the heading of the vehicle. From the Implementation result, it is obtained that the vehicle could track the given waypoint with small error

Fault-tolerant control of a quadrotor despite the complete rotor failure via adaptive Lyapunov-based control

Abstract: In this paper, an efficient method is proposed for the position and altitude tracking control of a quadrotor UAV through a nonlinear dynamic model in case of failure of one or two quadrotor rotors and in the presence of parametric uncertainties. In fact, the system continues its tasks correctly even if one or two rotors of the quadrotor stop working. The proposed method is a combination of the Lyapunov stability theory and the neural network adaptive scheme, in which Lyapunov-based controller was designed for subsystems separately, and their coefficients adaptively tuned by the neural network method. Further, the performances of the proposed control method were evaluated. The simulated results demonstrated that the proposed controller exhibits desirable transient behavior and performance stability, is not sensitive to parameter variations, and has remarkable stability and performance robustness despite the complete rotor failure. Hence, for operational purposes where the stability and continuation of the mission in case of failure of the rotors are of vital importance, using an adaptive Lyapunov-based control approach is recommended.Communication présentée lors du congrès international tenu conjointement par Canadian Society for Mechanical Engineering (CSME) et Computational Fluid Dynamics Society of Canada (CFD Canada), à l’Université de Sherbrooke (Québec), du 28 au 31 mai 2023

Dynamics estimator based robust fault-tolerant control for VTOL UAVs trajectory tracking

This paper investigates the control issue of the trajectory tracking of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) in the presence of partial propeller fault and external disturbance. In particular, a robust passive fault-tolerant control strategy is proposed by introducing a first-order filter based dynamics estimator. First, a bounded force command is exploited by employing a new smooth saturation function in the output of the estimator. A sufficient condition in terms of a specified parameter selection criteria is provided to ensure the nonsingularity extraction of the command attitude. Then, a torque command is applied to the attitude loop tracking. Since there is merely one filter parameter involved in the dynamics estimator, the practical implementation and parameter tuning can be significantly simplified. Stability analysis indicates that the proposed control strategy guarantees the semi-globally ultimately bounded tracking of VTOL UAVs subject to partial propeller fault and external disturbance. Simulation and experiment results with comparison examples are performed to validate the effectiveness of the proposed strategy. Experimental results show that the proposed strategy achieves the trajectory tracking with a good performance (mean deviation 0.0074 m and standard deviation 0.1202 m) in the presence of 35% propeller fault and 4 m/s persistent wind disturbance

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach