Adaptive relative velocity estimation algorithm for autonomous mobile robots using the measurements on acceleration and relative distance

Safaei, Ali

doi:10.1002/acs.3085

Cited by 5 publications

(2 citation statements)

References 39 publications

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“…Assumption 1: It is assumed that the UAV's states x, v, and are available for control design [34]. Furthermore, it is assumed that the time derivative of f 1,i is bounded as ḟ1,i (•) ≤ a 1,i and f1,i (•) ≤ a 2,i for i ∈ {x, y, z}, where a 1,i and a 2,i are positive constants.…”

Section: Model Description and Technical Preliminariesmentioning

confidence: 99%

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Rao,

Habibi,

Sanchez-Lopez

et al. 2024

IEEE Trans. Contr. Syst. Technol.

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In this article, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle (UAV) to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is designed to determine the desired accelerations using the proposed controller and subsequently used to compute the desired orientation and angular rates. Finite-time convergence to the sliding surfaces and closed-loop system stability are analytically proven. Furthermore, the restrictive assumption on the upper bound of the disturbance is relaxed by designing a gain adaptation law and low-pass filtering of the estimated equivalent control. The proper selection of design parameters is discussed in detail. Finally, the effectiveness of the proposed method is evaluated by high-fidelity software-in-theloop (SITL) simulations and validated by experimental studies.

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Section: Model Description and Technical Preliminariesmentioning

confidence: 99%

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Rao,

Habibi,

Sanchez-Lopez

et al. 2024

IEEE Trans. Contr. Syst. Technol.

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“…Video/image measurement methods are being developed because they have the potential to measure speed and identify vehicle numbers [12], [13]. Moreover, video/image speed measurements can be used for autonomous car control systems [14].…”

Section: Introductionmentioning

confidence: 99%

3D Velocity Measurement of Translational Motion using a Stereo Camera

Ristanto¹,

Nugroho²,

Sulistya³

et al. 2021

International Journal on Advanced Science, Engineering and Information Technology

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This research aims to create a 3D velocity measurement system using a stereo camera. The 3D velocity in this paper is the velocity which consists of three velocity components in 3D Cartesian coordinates. Particular attention is focused on translational motion. The system set consists of a stereo camera and a mini-PC with Python 3.7, and OpenCV 4.0 installed. The measurement method begins with the selection of the measured object, object detection using template matching, disparity calculation using the triangulation principle, velocity calculation based on object displacement information and time between frames, and the storage of measurement results. The measurement system's performance was tested by experimenting with measuring conveyor velocity from forward-looking and angle-looking directions. The experimental results show that the 3D trajectory of the object can be displayed, the velocity of each component and the speed as the magnitude of the velocity can be obtained, and so the 3D velocity measurement can be performed. The camera can be positioned forward-looking or at a certain angle without affecting the measurement results. The measurement of the speed of the conveyor is 11.6 cm/s with an accuracy of 0.4 cm/s. The results of this study can be applied in the performance inspection process of conveyors and other industrial equipment that requires speed measurement. In addition, it can also be developed for accident analysis in transportation systems and practical tools for physics learning.

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Safe navigation of a quadrotor UAV with uncertain dynamics and guaranteed collision avoidance using barrier Lyapunov function

Habibi

Safaei

Voos

et al. 2023

Aerospace Science and Technology

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Adaptive relative velocity estimation algorithm for autonomous mobile robots using the measurements on acceleration and relative distance

Cited by 5 publications

References 39 publications

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

3D Velocity Measurement of Translational Motion using a Stereo Camera

Safe navigation of a quadrotor UAV with uncertain dynamics and guaranteed collision avoidance using barrier Lyapunov function

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