We present a design of a leaderless formation controller for networked vehicle systems, which uses concepts from sliding mode control and dynamic extension. A single gain varies the importance of the relative and absolute position terms, allowing for tight or loose formations. This approach is proven mesh stable. Applications include formation flying of Unmanned Air Vehicles as well as possible extensions to satellites or Autonomous Underwater Vehicles.
The paper presents an approach to safe controller design for intelligent cruise control applications using differential game theory. The design problem is formulated as a zerosum differential game, where the objective of the lead vehicle is to provoke a collision and the objective of the following vehicle is to prevent a collision from happening regardless of the motion of the leader. A control strategy is safe if it can guarantee that no collision will occur between vehicles. The approach is applicable to Adaptive Cruise Control (ACC) and Cooperative ACC systems.
This paper presents an overview of the state-of-the-art for underwater vehicle autopilots. We start by reviewing reference frames, vehicle states, typical control surfaces, equations of motion, the different coefficients and how they are obtained, and disturbance models as well. We then consider different possible configurations for the autopilot, including decoupled lateral and longitudinal loops, maneuver and waypoint control. Adaptive dynamic surface control of nonlinear tracking of a single underwater vehicle is designed with the corroboration with numerical simulations. Finally, we describe current hardware implementations for autonomous underwater vehicles.
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