Multi-smart car control system design and research based on ZigBee

Wang, Chuan; Shen, Zhongyu; Zheng, Qiwen

doi:10.1109/ccdc.2014.6852402

Cited by 7 publications

(1 citation statement)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is also a nonholonomic system because it is not capable to move on the wheels axis direction in terrestrial mode. For more references in cart control refer to [4]- [6]. *This work was supported in part by the CONACYT (Consejo Nacional de Ciencia y Tecnología) of the Mexican government and in part by GIPSA The model of the vehicle can be obtained by using quaternions, the Lagrangian or the Newton Euler approach.…”

Section: System Descriptionmentioning

confidence: 99%

Integral backstepping control for trajectory tracking of a hybrid vehicle

Colmenares-Vazquez

Marchand

Castillo

et al. 2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

International audienceThis article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral back-stepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying the techniques aforementioned. I. SYSTEM DESCRIPTION In this work control laws are developed for trajectory tracking of a hybrid terrestrial aerial vehicle. These kinds of vehicles have the advantage to be used as a flying vehicle or as a cart depending on the situation. Some situations may be when the vehicle find an obstacle and it has to take the more convenient mode of operation to overcome or to avoid the obstacle. Controlling these hybrid vehicles becomes a challenge. It is necessary to design and implement control laws for the trajectory following in the air and over the floor. The control strategy has to generate a smooth transition when the drone is passing from air to floor or vice versa. There are several works dedicated to path following with hexarotors and also for carts, see for example [1]–[3]. This work considers a particular hybrid vehicle : a mini-UAV that is converted in a cart by attaching to it two wheels without any additional motors as in Fig. 1. The orientation and position of the cart will be controlled by the yaw and pitch angles and by the thrust generated by its helices. Among its characteristics, the thrust direction can be inversed as a result of the pitch angle variation. Therefore, the cart-drone can move forward or backward depending on the sign of pitch angle. This hybrid vehicle in terrestrial mode can turn around z axis. It is also a nonholonomic system because it is not capable to move on the wheels axis direction in terrestrial mode. For more references in cart control refer to [4]–[6]

show abstract

Section: System Descriptionmentioning

confidence: 99%