It is well-known that the multiple sliding surface control was developed to eliminate the problem of ‘‘explosion of complexity’’ inherent in the celebrated backstepping method. In this paper, we extend the multiple sliding surface control method further for systems in nonlinear block controllable form. As an application of the proposed control scheme, the robust attitude control law was synthes...

abstract: in this work, an optimal control scheme with adaptive weighting coefficients is presented which coordinates different vehicle dynamics control objectives, thus ruling out possible conflicts among them. in a new approach, the weighting coefficients in optimal control are adjusted according to the vehicle state in the phase plane in such a way that a priority is given to each objective ...

This paper reports on the design and analysis of a novel thermal single-axis microelectromechanical gyroscope. The gyroscope consists of a heated, pressure driven liquid flowing in a microchannel and two temperature sensors that detect the temperature difference between the two opposite walls of the channel. When an external rotation is applied, the resulting Coriolis acceleration acting on the...

The biomechanical properties of an animal's locomotor structures profoundly influence the relationship between neuromuscular inputs and body movements. In particular, passive stability properties are of interest as they may offer a non-neural mechanism for simplifying control of locomotion. Here, we hypothesized that a passive stability property of animal flight, flapping counter-torque (FCT), ...

It is well known that yaw can affect the penetrative power of armour piercing rounds. To investigate this effect purely experimentally is difficult because the typical ballistic set up does not allow control over the yaw angle of the projectile. In this study, a numerical model is used complementing ballistic experiments for a range of yaw angles. For the projectile, a validated computer model ...

This thesis presents the system architecture for landing an Unmanned Aerial Vehicle (UAV) from a hovering position without the intervention of a human operator. Through the use of feedback information from a height sensor, the UAV is commanded to perform controlled descent with the desired landing parameters by implementation of the flight control laws. The plant model of the system was determi...

This report presents a method of controlling an unmanned ground vehicel (UGV) by employing hybrid control theory. The linear dynamics of the UGV near a straight path conform to modern linear quadratic regulator theory. Two different methods for regulation of the UGV on a straight track are analyzed. The first method employs the steering angle as an input, while the second employs the derivative...

The number of functionalities, sensors and control units in modern vehicles is increasing permanently. In spite of this, the OEMs aim to minimize these numbers to reduce complexity, effort and cost. Thus it is very important to find the most suitable E/E-architecture jointly with the OEM in order to cope with these challenges. Furthermore, the repartitioning of content in the safety domain offe...