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Actuators
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Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles
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Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Control Systems".

Deadline for manuscript submissions: 30 November 2024 | Viewed by 1432

Special Issue Editor

Dr. Han Sol Kim

E-Mail Website
Guest Editor
Department of Electronics and Electrical Engineering, Dankook University, Yongin-si, Republic of Korea
Interests: control engineering; autonomous driving vehicles; unmanned aerial vehicles; artificial intelligence

Special Issue Information

Dear Colleagues,

Currently, the design of unmanned vehicles is a prominent topic of investigation, with a large range of applications such as civil and military activities, agriculture, transport, delivery operations, and surveillance.

For example, remotely operated or autonomous unmanned aerial vehicles (UAVs) have been used in recent military operations around the world; unmanned underwater vehicles (UUVs), the most well known of which are remotely operated vehicles (ROVs), can also be applied in several commercial field operations, e.g., oil and gas extraction in ultra-deep waters.

Unmanned vehicles are being developed to operate in various environments, including in the air, with UAVs; underwater, with UUVs or autonomous underwater vehicles (AUVs); and on the surface of the ground, with unmanned ground vehicles (UGVs).

Dynamics and motion control techniques are very important for the design and construction of efficient vehicle systems to enhance safety and reliability. This Special Issue will deal with novel schemes for dynamics analysis and control techniques for aerial, underwater, and ground vehicle systems. We will discuss the recent advances and future challenges associated with the design issues of unmanned vehicles. The topics of interest within the scope of this Special Issue include, but are not limited to, the following:

  • Vehicle control;
  • Kinematics and vehicle dynamics;
  • Path planning and collision avoidance;
  • Sensor and actuator systems;
  • Steering, brakes, dampers and electronic control units;
  • Fault detection and fault-tolerant control;
  • Electric vehicles, intelligent vehicles, autonomous vehicles;
  • Trajectory control;
  • Flight dynamics and control;
  • Linear and nonlinear control synthesis;
  • Attitude dynamics and stabilization.

We look forward to receiving your contributions.

Dr. Han Sol Kim
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • unmanned vehicle
  • vehicle dynamic modeling and control
  • remotely operated vehicle
  • unnamed aerial vehicle
  • actuator and sensor faults

Published Papers (2 papers)

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Research

34 pages, 11051 KiB  
Article
Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking
by Weishan Yang, Yixin Su, Yuepeng Chen and Cheng Lian
Actuators 2024, 13(4), 153; https://doi.org/10.3390/act13040153 - 18 Apr 2024
Viewed by 349
Abstract
The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To [...] Read more.
The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To address this issue, this paper proposes a dual-layer MPC vehicle collision-free trajectory tracking control strategy that integrates spatial kinematics and vehicle dynamics. To fully utilize the spatial information of obstacles, we designed a vehicle model based on spatial kinematics, enabling the upper-layer MPC to plan collision avoidance trajectories based on distance sampling. To improve the accuracy and safety of trajectory tracking, we designed an 8-degree-of-freedom vehicle dynamic model. This allows the lower-layer MPC to consider lateral stability and roll stability during trajectory tracking. In collision avoidance trajectory tracking experiments using three scenarios, compared to two advanced time-based algorithms, the trajectories planned by the proposed algorithm in this paper exhibited predictability. The proposed algorithm can initiate collision avoidance at predetermined positions and can avoid collisions in predetermined directions, with all state variables within safe ranges. In terms of time efficiency, it also outperformed the comparative algorithms. Full article
(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)
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20 pages, 7690 KiB  
Article
Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints
by Tianrui Zhao, Peibo Li, Yu Yuan, Lin Zhang and Yanzheng Zhao
Actuators 2024, 13(3), 109; https://doi.org/10.3390/act13030109 - 08 Mar 2024
Viewed by 886
Abstract
Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended [...] Read more.
Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended path. In this study, we introduce a novel method for generating and following trajectories that circumvent obstacles, tailored for a tractor–trailer robotic system constrained by multiple factors. Firstly, leveraging the state information of both the obstacles and the desired trajectory, we formulate an improved trajectory for obstacle avoidance using the nonlinear least squares method. Subsequently, we propose an innovative tracking controller that integrates a universal barrier function with a state transformation strategy. This amalgamation facilitates the accurate tracking of the prescribed trajectory. Our theoretical analysis substantiates that the proposed control methodology ensures exponential convergence of the line-of-sight (LOS) distance and angle tracking errors, while enhancing the transient performance. To validate the efficacy of our approach, we present a series of simulation results, which demonstrate the applicability of the developed control strategy in managing the complex dynamics of tractor–trailer robots. Full article
(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)
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