Shared-control for fully actuated linear mechanical systems

This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm

Shared-control for the kinematic model of a mobile robot

This paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm

Output-feedback shared-control for fully actuated linear mechanical systems

This paper presents an output feedback shared-control algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy

Lateral control of an autonomous vehicle

The asymptotic stabilization problem for a class of nonlinear under-actuated systems is studied and solved. Its solution, together with the back-stepping and the forwarding control design methods, is exploited in the control of the nonlinear lateral dynamics of a vehicle. Even though the theoretical studies of the lateral control of autonomous vehicles are traditionally applied to lane keeping cases, the results can be applied to broader range of areas, such as lane changing cases. The comparison between the performances of the closed-loop systems with the given controller and a typical human driver is given and demonstrates the speediness and the effectiveness of the feedback controller

Shared-control for a UAV operating in the 3D space

This paper presents a shared-control scheme for a UAV moving in a 3D space while its feasible Cartesian position set is defined by a group of linear inequalities. A hysteresis switch is used to combine the human input and the feedback control input based on the definitions of a safe set, a hysteresis set and a “dangerous” set. Case studies given in the paper show the effectiveness of the shared-control algorithm

Shared-control for the kinematic model of a rear-wheel drive car

This paper presents a shared-control algorithm for the kinematic model of a rear-wheel drive car, for which the set of feasible Cartesian positions is defined by a group of linear inequalities. The shared-control scheme is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the shared-control law

State and output-feedback shared-control for a class of linear constrained systems

This technical note presents state and output feedback shared-control algorithms for a class of linear systems in the presence of constraints on the output described by means of linear inequalities. The properties of the closed-loop shared-control systems are studied using Lyapunov arguments. Simulation results demonstrate the effectiveness of the algorithm

Under-actuated back-stepping: An introduction

The stabilization problem for a class of underactuated systems is solved. This is achieved via a novel backstepping based method that we call under-actuated backstepping. The method is developed for linear under-actuated systems first and then extended to nonlinear systems via an example. Numerical simulations are given to demonstrate the effectiveness of the proposed under-actuated back-stepping method

Shared-control for typical driving scenarios

A shared-control algorithm for the kinematic model of a rear-wheel driving car is presented. The design of the shared-controller is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. The shared-controller guarantees the safety of the car in both predefined, static environments and time-varying environments. The effectiveness of the controller is verified by two studies

Shared-control for the kinematic model of a mobile robot

This paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm