Collision prevention of ship towing operation under environmental disturbance

Towing operations are highly reliant on the experience of the towing operators. Safety concerns arise when towing operations are subjected to environmental disturbances and dynamic traffic conditions. However, a systematic framework and approaches to enhance the safety and automation of towing operations remain lacking. This work proposes a...

Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control

This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both...

Aircraft Fault-Tolerant Trajectory Control Using Incremental Nonlinear Dynamic Inversion

This paper deals with aircraft trajectory control in the presence of model uncertainties and actuator faults. Existing approaches, such as adaptive backstepping and nonlinear dynamic inversion with online model identi_cation, can be applied. However, since there are a number of unknown aerodynamic derivatives, the tuning of parameter update law...

A stochastic control approach to flight path monitoring

In the Programme for Harmonised Air Traffic management Research in Eurocontrol (PHARE) Medium Term Scenario, a number of Advanced Tools are described which must be developed in order to increase Air Traffic Control capacity and the flight efficiency of aircraft while keeping at least the same level of safety. One of these Tools is the Flight...

Modelling and simulation of a rate controlled manipulator ARM

The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750...

In-flight attitude estimations and control experiments with Iras based on modern control theory

One of the research activities of the Space Division of the National Aerospace Laboratory NLR is the application of modern estimation and control theory to spacecraft attitude control problems. Algorithms for spacecraft state estimation and attitude control, as well as for inertial-optical attitude determination have been developed previously...