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Modeling and optimal three-dimensional trajectory tracking for an autonomous underwater vehicle
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016This paper introduces a new approach for designing a simplified control law, which controls an autonomous underwater vehicle (AUV) to track a given 3D trajectory. To get a Linear Time Variant (LTV) state space model, the 6 degrees of freedom (6DOF) dynamics and kinematics model of the AUV is linearized about the given desired 3D trajectory it needs to ...
Abed AlRahman Al Makdah +3 more
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Journal of Shanghai Jiaotong University (Science), 2020
This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed controller can achieve practical convergence of tracking errors for general reference trajectories, including persistently exciting (PE) time varying ...
Hantao Huang +4 more
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This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed controller can achieve practical convergence of tracking errors for general reference trajectories, including persistently exciting (PE) time varying ...
Hantao Huang +4 more
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Three Dimensional Trajectory Tracking for Unmanned Aerial Vehicles in Time-Varying Winds
2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), 2015In this paper, a control law for three dimensional trajectory tracking for unmanned aerial vehicles is developed. The control law is based on back stepping method. The parameters of the control law are tuned by genetic algorithm. Simulations show that the effectiveness of the control law and the parameter tuning method.
Kun Zhang, Xiaoguang Gao, Daqing Chen
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Volleyball Movement Trajectory Analysis Based on Three-Dimensional Visual Tracking
Applied Mechanics and Materials, 2014in volleyball movement process, there is greater uncertainty in velocity and position of movement. Using traditional algorithms for volleyball movement trajectory analysis, it cannot get changes situation of volleyball movement trajectory, resulting in that there is a big deviation in volleyball movement trajectory analysis, and the accuracy of ...
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Obtaining three-dimensional trajectory of multiple fish in water tank via video tracking
Multimedia Tools and Applications, 2018Accurately and reliably obtaining the three-dimensional motion data of individuals in fish schools is not only valuable for fish behaviour analysis and hydrodynamics studies but also be helpful in areas such as bio-inspired robot design. Video tracking is the most effective gateway to obtain the quantitative motion data of continuously moving objects ...
Xi En Cheng +4 more
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Non-holonomic model-based predictive output tracking of an unknown three-dimensional trajectory
Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), 2002We present a control strategy to track a target trajectory in space with a non-holonomic vehicle. Only noisy, point-wise measurements of the target are available at each time, so that no global optimality can be achieved. Instead, we propose a causal, predictive output-feedback control strategy based upon the recursive approximation of the target with ...
R. Frezza, G. Picci, S. Soatto
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2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
Three-dimensional visual simulation is very helpful during the research and development of autonomous underwater vehicle. In this article, a three-dimensional visual simulation system for autonomous underwater vehicle is designed based on an underwater simulator called UWSim.
Qirong Tang +3 more
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Three-dimensional visual simulation is very helpful during the research and development of autonomous underwater vehicle. In this article, a three-dimensional visual simulation system for autonomous underwater vehicle is designed based on an underwater simulator called UWSim.
Qirong Tang +3 more
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Mixed fuzzy sliding mode three-dimensional trajectory tracking control for a wheeled mobile robot
2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), 2017A three-dimensional (3d) trajectory tracking controller for a wheeled mobile robot via adaptive fuzzy sliding mode (AFSM) technique is designed in this paper. To begin, according to the coordinate transformation theory, the wheeled mobile robot dynamics equation and position equation are obtained.
Huang Yiqing +4 more
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Chemical Physics Letters, 2006
In solution magnetic resonance (MR), manipulating the spin system in real time is difficult to implement in part due to the challenge of measuring the longitudinal magnetization within the constraints of MR detection hardware. Here we exploit the dynamical frequency shift induced by the radiation damping feedback field to estimate the longitudinal ...
Eric W. Scamman +3 more
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In solution magnetic resonance (MR), manipulating the spin system in real time is difficult to implement in part due to the challenge of measuring the longitudinal magnetization within the constraints of MR detection hardware. Here we exploit the dynamical frequency shift induced by the radiation damping feedback field to estimate the longitudinal ...
Eric W. Scamman +3 more
openaire +1 more source