Search Results (89)

This paper proposes a control method that combines a fractional-order sliding mode observer and a cooperative control strategy to address the problem of path-following for underactuated autonomous underwater vehicles (AUVs) in complex marine environments. First, a fractional-order sliding mode observer is designed, combining fractional calculus and double-power convergence laws to enhance the estimation accuracy of high-frequency disturbances. An adaptive gain mechanism is introduced to avoid dependence on the upper bound of disturbances. Second, a formation cooperative control strategy based on path parameter coordination is proposed. By setting independent reference points for each AUV and exchanging path parameters, formation consistency is achieved with low communication overhead. For the followers’ speed control problem, an error-based expected speed adjustment mechanism is introduced, and a hyperbolic tangent function is used to replace the traditional arctangent function to improve the response speed of the system. Numerical simulation results show that this control method performs well in terms of path-following accuracy, formation maintenance capability, and disturbance suppression, verifying its effectiveness and robustness in complex marine environments. Full article

This paper presents a three-dimensional robust spatiotemporal cooperative guidance law for unmanned aerial vehicles (UAVs) to track a dynamic target under jointly strongly connected topologies, even when some UAVs malfunction. To resolve the infinite gain challenge in existing prescribed-time cooperative guidance laws, a novel bounded-gain prescribed-time stability criterion was formulated. This criterion allows the convergence time of the guidance law to be prescribed arbitrarily without any convergence performance trade-off. Firstly, new prescribed-time disturbance observers are designed to achieve accurate estimations of the target acceleration within a prescribed time regardless of initial conditions. Then, by leveraging a distributed convex hull observer, a tangential acceleration command is proposed to drive arrival times toward a common convex combination within a prescribed time under jointly strongly connected topologies, remaining effective even when partial UAVs fail. Moreover, by utilizing a prescribed-time nonsingular sliding mode control method, normal acceleration commands are developed to guarantee that the line-of-sight angles constraints can be satisfied within a prescribed time. Finally, numerical simulations validate the effectiveness of the proposed guidance law. Full article

To address the problem of cooperative multi-vehicle operations targeting critical objectives in three-dimensional space, this paper proposes a variable-power adaptive fast sliding-mode guidance law. First, a dynamic vehicle–target model is established in three-dimensional space by using the projection of the horizontal vehicle–target plane to determine the reference plane. The guidance law design is projected onto the reference plane based on the average consensus convergence control method. This not only drives the estimated deviations to zero to achieve time consistency but also ensures that the estimated time-to-go converges to the actual time-to-go. Additionally, an adaptive input compensation component is designed in the vertical line-of-sight (LOS) direction, driving the aspect angle to converge to zero before the final point is reached. Furthermore, in the vertical reference plane direction, an adaptive variable-power sliding-mode control method is designed based on the traditional sliding-mode control scheme, in which the corresponding power exponent is selected according to the variation exhibited by the sliding-mode values. On the one hand, higher power levels can result in faster convergence; on the other hand, lower power levels can be associated with better stability. Compared with the traditional sliding-mode control technique, the proposed method achieves guaranteed stable convergence at the end of the control process, with a 49% improvement in convergence efficiency. Finally, simulations verify the designed three-dimensional guidance law, demonstrating that it features fast convergence, high stability, and high precision. Full article

With the increasing penetration of distributed photovoltaics (PVs) in distribution networks (DNs), issues like voltage violations and fluctuations are becoming more prominent. This paper proposes a spatio-temporal adaptive voltage coordination control strategy involving multiple timescales and multi-device collaboration. Aiming at the heavy workload caused by the continuous sampling of real-time data in the whole domain, an intra-day innovative construction of intra-day minute-level optimization and real-time adaptive control double-layer control mode are introduced. Intra-day minute-level refinement of on-load tap changer (OLTC) and step voltage regulator (SVR) day-ahead scheduling plans to fully utilize OLTC and SVR voltage regulation capabilities and improve voltage quality is discussed. In real-time adaptive control, a regional autonomy mechanism based on the functional area voltage quality risk prognostication coefficient (VQRPC) is innovatively proposed, where each functional area intelligently selects the time period for real-time voltage regulation of distributed battery energy storage systems (DESSs) based on VQRPC value, in order to improve real-time voltage quality while reducing the data sampling workload. Aiming at the state of charge (SOC) management of DESS, a novel functional area DESS available capacity management mechanism is proposed to coordinate DESS output and improve SOC homogenization through dynamically updated power–capacity availability (PCA). And vine model threshold band (VMTB) and deviation optimization management (DOM) strategies based on functional area are innovatively proposed, where DOM optimizes DESS output through the VMTB to achieve voltage fluctuation suppression while optimizing DESS available capacity. Finally, the DESS and electric vehicle (EV) cooperative voltage regulation mechanism is constructed to optimize DESS capacity allocation, and the black-winged kite algorithm (BKA) is used to manage DESS output. The results of a simulation on a modified IEEE 33 system show that the proposed strategy reduces the voltage fluctuation rate of each functional area by an average of 36.49%, reduces the amount of data collection by an average of 68.31%, and increases the available capacity of DESS by 5.8%, under the premise of a 100% voltage qualification rate. Full article

Formation flying of multiple unmanned aerial vehicles (UAVs) has attracted much attention for its versatility in cooperative tasks. In this paper, a distributed formation planning method is proposed for UAVs. First, we design a path searching algorithm, swarm-A*, which can enhance the cohesion of a swarm, i.e., preventing the disintegration of the swarm when it encounters an obstacle. Then, after waypoint reallocation, a formation trajectory optimization framework is formulated. Smooth formation trajectories for UAVs to travel safely in obstacle-laden environments can be obtained by solving the optimization problem. Next, a tracking controller based on sliding mode control is designed, ensuring that the UAVs follow the planned formation trajectories under dynamic constraints. Finally, numerical simulations and experiments are conducted to validate the effectiveness of the proposed method. Full article

As the global ecological environment faces serious challenges and extreme climate change threatens the survival of humankind, the promotion of green development has become the focus for all countries in the world. As one of the world’s major greenhouse gas emitters, China has put forward the “twin goals” of achieving carbon peaking and carbon neutrality and is committed to promoting the green and low-carbon transformation of its cities. As the core of economic and social development, cities are the main source of carbon emissions. In response to the dual challenges of carbon emission control and traffic growth, it is particularly important to promote the development of green transportation. With the acceleration of urbanization, urban traffic pollution is becoming more and more serious. As a zero-emission transportation mode, electric vehicles have become a key way to achieve the carbon peak and carbon neutrality targets. In order to deeply analyze the research status of electric vehicles in the field of the green and low-carbon transformation of urban transportation in China and to explore the research hot spots, evolution trends, and their roles and strategies in the construction of green transportation networks, this paper uses the CiteSpace, VOSviewer, and Tableau analysis tools to review and analyze the 2460 articles and reviews in the Web of Science Core Collection (WOS) and 2650 articles and reviews in the China National Knowledge Infrastructure (CNKI), including the “publication volume and publication trend”, “subject citation path”, “countries cooperation and geographical distribution”, “author cooperation and institution cooperation”, “keyword co-occurrence and keywords clusters”, and the “evolution trend of research hot spots in timeline”. The results show that: (1) Since 2010, the research focus on electric vehicles has gradually increased, and especially in the past three years, the number of such publications has increased significantly. (2) China holds the lead in research output regarding electric vehicles and related fields, but its international cooperation needs to be strengthened. (3) In recent years, the research has focused on “energy transformation”, “energy-saving technology”, “carbon emissions”, “battery recycling”, and other relevant topics. The promotion and development of electric vehicles will continue to usher in new opportunities concerning technological innovation, policy support, and market expansion. Finally, based on the research hot spots and evolution trends of electric vehicles in the field of urban green transportation and low-carbon transportation in China, this paper discusses the key paths and strategies for electric vehicles to promote the transformation of urban transportation in China to green and low-carbon types and looks forward to future research directions. The research in this paper can provide theoretical support and practical guidance for China to promote electric vehicles, build low-carbon cities, and realize green transportation. It is expected to act as a useful reference for relevant policy formulation and academic research. Full article

To address the formation control issue of multiple unmanned aerial vehicles (UAVs), a finite-time control scheme based on terminal sliding mode (TSM) is investigated in this paper. A quadcopter UAV with the vertical takeoff property is considered, with cascaded kinematics composed of rotational and translational loops. To strengthen the application in the low-cost UAV system, the applied torque is synthesized with an auxiliary rotational system, which can avoid utilizing direct attitude measurement. Furthermore, a terminal sliding mode surface is established and employed in the finite-time formation control protocol (FTFCP) as the driven thrust of multiple UAVs over an undirected topology in the translational system. To maintain the safe flight of the UAV clusters in an environment to avoid collision with obstacles or with other UAV neighbors, a pigeon-hierarchy-inspired obstacle avoidance protocol (PHOAP) is proposed. By imitating the interactive hierarchy that exists among the homing pigeon flocks, the collision avoidance scheme is separately enhanced to generate the repulsive potential field for the leader maneuver target and the follower UAV cluster. Subsequently, the collision avoidance laws based on pigeon homing behavior are combined with the finite-time sliding mode formation protocol, and the applied torque is attached as a cascaded structure in the attitude loop to synthesize an obstacle avoidance cooperative control framework. Finally, simulation scenarios of multiple UAVs to reach a desired formation among obstacles is investigated, and the effectiveness of the proposed approach is validated. Full article

Unmanned surface vehicles (USVs) are increasingly critical in modern maritime operations, where reliable cooperative formation control under actuator failure is essential for safe navigation and efficient mission execution. Thus, this study presents an innovative fault-tolerant control strategy for USV formations, specifically addressing the challenges posed by actuator degradation, compound uncertainties, and input saturation. Concretely, the main contribution of this study is as follows. First, a detailed analysis of the USV kinematics and dynamics is conducted, and a novel position constraint model is developed through a formation transformation approach. To mitigate internal and external disturbances, a new non-singular terminal sliding mode surface is designed in conjunction with a dynamically regulated convergence law, ensuring finite-time convergence while reducing chattering. An adaptive terminal sliding mode controller is then formulated, integrating an event-triggered mechanism and an RBF neural network to compensate for model uncertainties and input saturation effects. Simulation results demonstrate that the proposed method not only achieves robust cooperative formation control under partial actuator failure but also significantly enhances the tracking accuracy and reduces the communication load compared to conventional sliding mode approaches. Full article

Considering the supply chain composed of a power battery supplier and a new energy vehicle manufacturer, under the carbon cap-and-trade policy, this paper studies the different cooperation modes between the manufacturer and the supplier as well as their strategies for green technology and power battery production. Three game models are constructed and solved, respectively, under the collaboration mode of wholesale purchasing, patent-licensed manufacturing, and own R&D + Wholesale purchasing. The equilibrium analysis is carried out. Finally, the influence of relevant parameters is explored through numerical simulation. It is found that (1) the manufacturer’s choice of optimal battery production strategy is influenced by the input cost of green technology, the production cost of power battery, the carbon trading price, and the free carbon quota allocated by the government; (2) the cost coefficient of technological innovation affects negatively the optimal decision-making of the supply chain members, the market demand, and the optimal profit, and it has no impact when the cost coefficient reaches a certain value; (3) carbon cap-and-trade policy can, to a certain extent, incentivize suppliers and manufacturers to carry out technological innovation to reduce carbon emissions in the production process, but we cannot ignore the negative impacts of excessively high carbon trading price on the level of emission reduction and the market demand; and (4) the government should reasonably control the carbon price and carbon quota. The above conclusion will provide reference suggestions for new energy vehicle manufacturers and related suppliers. Full article

Drone-assisted radio communication is revolutionizing future wireless networks, including sixth-generation (6G) and beyond, by providing unobstructed, line-of-sight links from air to terrestrial vehicles, enabling robust cellular cehicle-to-everything (C-V2X) communication networks. However, addressing communication latency is imperative, especially when considering autonomous vehicles. In this study, we analyze different types of delay and the factors impacting them in drone-assisted C-V2X networks. We specifically investigate C-V2X Mode 4, where multiple vehicles utilize available transmission windows to communicate the frequently collected sensor data with an embedded drone server. Through a discrete-time Markov model, we assess the medium access control (MAC) layer performance, analyzing the trade-off between data rates and communication latency. Furthermore, we compare the delay between cooperative perception messages (CPMs) and periodically transmitted basic safety messages (BSMs). Our simulation results emphasize the significance of optimizing BSM and CPM transmission intervals to achieve lower average delay as well as utilization of drones’ battery power to serve the maximum number of vehicles in a transmission time interval (TTI). The results also reveal that the average delay heavily depends on the packet arrival rate while the processing delay varies with the drone occupancy and state-transition rates for both BSM and CPM packets. Furthermore, an optimal policy approximates a threshold-based policy in which the threshold depends on the drone utilization and energy availability. Full article

In this paper, a bio-inspired sliding mode control (bio-SMC) and minimal learning parameter (MLP) are proposed to achieve the cooperative formation control of underactuated unmanned surface vehicles (USVs) with external environmental disturbances and model uncertainties. Firstly, the desired trajectory of the follower USV is generated by the leader USV’s position information based on the leader–follower framework, and the problem of cooperative formation control is transformed into a trajectory tracking error stabilization problem. Besides, the USV position errors are stabilized by a backstepping approach, then the virtual longitudinal and virtual lateral velocities can be designed. To alleviate the system oscillation and reduce the computational complexity of the controller, a sliding mode control with a bio-inspired model is designed to avoid the problem of differential explosion caused by repeated derivation. A radial basis function neural network (RBFNN) is adopted for estimating and compensating for the environmental disturbances and model uncertainties, where the MLP algorithm is utilized to substitute for online weight learning in a single-parameter form. Finally, the proposed method is proved to be uniformly and ultimately bounded through the Lyapunov stability theory, and the validity of the method is also verified by simulation experiments. Full article

This paper proposes a decentralized adaptive event-triggered fault-tolerant cooperative control (ET-FTCC) scheme for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and external disturbances under denial-of-service (DoS) attacks. The multiple UAVs and UGVs have a larger search radius, which is important in both the civilian and military domains. The different dynamics between UAVs and UGVs result in unbalanced interactions in the communication topologies, which increases the complexity of cooperative control. DoS attacks are conducted in both sensor and control channels. The dynamic models of UAVs and UGVs are introduced firstly, and the unified heterogeneous multiagent system model with actuator faults is established. The composite observer is designed to obtain the information of state and lumped disturbance, which is used to design the controller. In order to save the limited communication network resources, the event-triggered mechanism is introduced. The transformed error is presented by using the prescribed performance function (PPF). Then, the sliding-mode manifold is presented by combining the event-triggered control scheme to achieve the tracking purpose with actuator faults, external disturbances, and DoS attacks. Based on the Lyapunov function approach, the tracking errors are bounded within the prescribed boundary. Finally, the effectiveness of the proposed method is verified by qualitative analysis and quantitative analysis of the simulation results. This study can enhance the security and reliability of heterogeneous multiagent systems, providing technical support for the safe operation of unmanned systems. This paper mainly solves the FTCC problem of second-order nonlinear heterogeneous multiagent systems, and further research is needed for the FTCC problem of higher-order nonlinear heterogeneous multi-agent systems. In addition, the system may encounter multiple cyber attacks. As one of the future research works, we can extend the results of this paper to high-order nonlinear systems under multiple cyber attacks, which contain DoS attacks and deception attacks, and achieve fault-tolerant cooperative control of heterogeneous multiagent systems. Full article

Competition in China’s electric vehicle industry has intensified significantly in recent years. The production mode of power batteries, serving as the pivotal component in these vehicles, has emerged as a critical challenge for electric vehicle manufacturers. We considered a system comprising an electric vehicle (EV) manufacturer with power battery production technology and another EV manufacturer lacking power battery production technology. In the context of carbon trading policy, we constructed and solved Cournot competitive game models and asymmetric Nash negotiation game models in the CC, PC, and WC modes. We examined the decision-making process of electric vehicle manufacturers regarding power battery production modes and carbon emission reduction strategies. Our research indicates the following: (1) The reasonable patent fee for power batteries and the wholesale price of power batteries can not only compensate power battery production technology manufacturers for the losses caused by market competition but can also strengthen the cooperative relationship between manufacturers. (2) EV manufacturers equipped with power battery production technology exhibit higher profitability within the framework of a perfectly competitive power battery production mode. Conversely, manufacturers lacking power cell production technology demonstrate greater profitability when operating under a more collaborative power cell production mode. (3) Refraining from blindly persisting with and advocating for carbon emission reduction measures is advisable for manufacturers amidst rising carbon trading prices. Full article

One of the main methods of the path localization of moving objects is positioning using Global Navigation Satellite Systems (GNSSs) in cooperation with Inertial Navigation Systems (INSs). Its basic task is to provide high availability, in particular in areas with limited access to satellite signals such as forests, tunnels or urban areas. The aim of the article is to carry out the testing and analysis of selected navigation parameters (3D position coordinates (Northing, Easting, and height) and Euler angles (pitch and roll)) of the GNSS/INS system for Unmanned Surface Vehicle (USV) path localization during inland hydrographic surveys. The research used the Ellipse-D GNSS/INS system working in the Real Time Kinematic (RTK) mode in order to determine the position of the “HydroDron” Autonomous Surface Vehicle (ASV). Measurements were conducted on four representative routes with a parallel and spiral arrangement of sounding profiles on Lake Kłodno (Poland). Based on the obtained research results, position accuracy measures of the “HydroDron” USV were determined using the Ellipse-D GNSS/INS system. Additionally, it was determined whether USV path localization using a GNSS/INS system working in the RTK mode meets the positioning requirements for inland hydrographic surveys. Research has shown that the Ellipse-D system operating in the RTK mode can be successfully used to position vessels when carrying out inland hydrographic surveys in all International Hydrographic Organization (IHO) Orders (Exclusive, Special, 1a/1b and 2) even when it does not work 100% correctly, e.g., loss of RTK corrections for an extended period of time. In an area with limited coverage of the mobile network operator (30–40% of the time the receiver operated in the differential mode), the positioning accuracy of the “HydroDron” USV using the Ellipse-D GNSS/INS system working in the RTK mode was from 0.877 m to 0.941 m for the R95(2D) measure, depending on the route travelled. Moreover, research has shown that if the Ellipse-D system performed GNSS/INS measurements using the RTK method, the pitch and roll error values amounted to approx. 0.06°, which is almost identical to that recommended by the device manufacturer. However, when working in the differential mode, the pitch and roll error values increased from 0.06° to just over 0.2°. Full article

This article aims to address the unnecessary stopping and low efficiency issues present in existing multi-machine cooperative steering control methods. To tackle this challenge, a novel cooperative control approach for multiple agricultural machines is proposed, considering two typical steering modes of farm machinery. This approach encompasses a multi-machine cooperative control framework suitable for both steering modes. Based on the established lateral and longitudinal kinematics models of the farm machines, the method includes a path-tracking controller designed using the pure pursuit and Stanley algorithms, a formation-keeping controller based on PID control, and a T-turn cooperative-steering controller based on a problem-solving approach. To assess the method’s viability, a collaborative simulation platform utilizing CarSim and Simulink was constructed, which conducted simulations for both U-turn and T-turn cooperative steering controls. The simulation results indicate that the proposed control framework and methodology can effectively ensure no collision risk during the U-turn and T-turn cooperative steering processes for three farm machines, eliminating stopping in T-turn, enhancing safety, and improving fuel economy. Compared with traditional sequential control methods, the proposed approach reduced operation time by 17.47 s and increased efficiency by 15.29% in the same scenarios. Full article