Study on maneuvering support system for an amphibian rescue vehicle on the surface of water
In this report, we focus on a maneuvering problem of an amphibian vehicle for rescue, and a novel manueuvering support system for the vehicle on the surface of water is proposed by applying a nonlinear state feedback control law for trajectory control. To simplify the problem, we consider only visco...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2015-02-01
|
| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/81/823/81_14-00520/_pdf/-char/en |
| _version_ | 1798018108562079744 |
|---|---|
| author | Ryota HAYASHI Genki MATSUYAMA Hisanori AMANO Hitomu SAIKI Tetsuya KINUGASA Yong YU Masatsugu IRIBE Kenichi TOKUDA |
| author_facet | Ryota HAYASHI Genki MATSUYAMA Hisanori AMANO Hitomu SAIKI Tetsuya KINUGASA Yong YU Masatsugu IRIBE Kenichi TOKUDA |
| author_sort | Ryota HAYASHI |
| collection | DOAJ |
| description | In this report, we focus on a maneuvering problem of an amphibian vehicle for rescue, and a novel manueuvering support system for the vehicle on the surface of water is proposed by applying a nonlinear state feedback control law for trajectory control. To simplify the problem, we consider only viscous friction among the external forces and ignore other external forces which are applied to the vehicle on the surface of water. We consider that the vehicle should not drift sideways for an excellent driving performance. Thereby, we propose to employ three ducted fans as additional propulsion devices. Each of the two ducted fans, which are attached symmetrically to the left and right side of the vehicle, has a swiveling function in order to generate a lateral force. The other ducted fan, which is attached to the center rear of the vehicle, generates a longitudinal propulsive force. To design a nonlinear state feedback control law, we define ‘Maneuvering Trajectory’ as a trajectory which is generated by the maneuver of the vehicle's pilot and we construct a Lyapunov-like function for the trajectory control system. Then the feasibility of the proposed system is verified by evaluating the tracking error against a reference trajectory through several numerical simulations. |
| first_indexed | 2024-04-11T16:17:20Z |
| format | Article |
| id | doaj.art-1ec1a81712c447b2a0fef924ac32dcea |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T16:17:20Z |
| publishDate | 2015-02-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-1ec1a81712c447b2a0fef924ac32dcea2022-12-22T04:14:27ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612015-02-018182314-0052014-0052010.1299/transjsme.14-00520transjsmeStudy on maneuvering support system for an amphibian rescue vehicle on the surface of waterRyota HAYASHI0Genki MATSUYAMA1Hisanori AMANO2Hitomu SAIKI3Tetsuya KINUGASA4Yong YU5Masatsugu IRIBE6Kenichi TOKUDA7Faculty of Science and Engineering, Graduate School of Kagoshima UniversityFaculty of Science and Engineering, Graduate School of Kagoshima UniversityNational Research Institute of Fire and DisasterNational Research Institute of Fire and DisasterFaculty of Engineering, Okayama University of ScienceFaculty of Science and Engineering, Graduate School of Kagoshima UniversityFaculty of Engineering, Osaka Electro-Comunication UniversityFaculty of Systems Engineering, Wakayama UniversityIn this report, we focus on a maneuvering problem of an amphibian vehicle for rescue, and a novel manueuvering support system for the vehicle on the surface of water is proposed by applying a nonlinear state feedback control law for trajectory control. To simplify the problem, we consider only viscous friction among the external forces and ignore other external forces which are applied to the vehicle on the surface of water. We consider that the vehicle should not drift sideways for an excellent driving performance. Thereby, we propose to employ three ducted fans as additional propulsion devices. Each of the two ducted fans, which are attached symmetrically to the left and right side of the vehicle, has a swiveling function in order to generate a lateral force. The other ducted fan, which is attached to the center rear of the vehicle, generates a longitudinal propulsive force. To design a nonlinear state feedback control law, we define ‘Maneuvering Trajectory’ as a trajectory which is generated by the maneuver of the vehicle's pilot and we construct a Lyapunov-like function for the trajectory control system. Then the feasibility of the proposed system is verified by evaluating the tracking error against a reference trajectory through several numerical simulations.https://www.jstage.jst.go.jp/article/transjsme/81/823/81_14-00520/_pdf/-char/enamphibian vehiclerescuemaneuvering support systemnonlinear controltrajectory controllyapunov-like function |
| spellingShingle | Ryota HAYASHI Genki MATSUYAMA Hisanori AMANO Hitomu SAIKI Tetsuya KINUGASA Yong YU Masatsugu IRIBE Kenichi TOKUDA Study on maneuvering support system for an amphibian rescue vehicle on the surface of water Nihon Kikai Gakkai ronbunshu amphibian vehicle rescue maneuvering support system nonlinear control trajectory control lyapunov-like function |
| title | Study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| title_full | Study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| title_fullStr | Study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| title_full_unstemmed | Study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| title_short | Study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| title_sort | study on maneuvering support system for an amphibian rescue vehicle on the surface of water |
| topic | amphibian vehicle rescue maneuvering support system nonlinear control trajectory control lyapunov-like function |
| url | https://www.jstage.jst.go.jp/article/transjsme/81/823/81_14-00520/_pdf/-char/en |
| work_keys_str_mv | AT ryotahayashi studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT genkimatsuyama studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT hisanoriamano studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT hitomusaiki studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT tetsuyakinugasa studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT yongyu studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT masatsuguiribe studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater AT kenichitokuda studyonmaneuveringsupportsystemforanamphibianrescuevehicleonthesurfaceofwater |