Results 21 to 30 of about 6,656 (263)
Sliding Mode Motion Control for AUV with Dual-Observer Considering Thruster Uncertainty
Journal of Marine Science and Engineering, 2022 In the motion control of AUVs, especially those driven by multiple thrusters, the thruster misalignment and thrust loss cause the actual force and moment applied to the AUV to deviate from that desired, making accurate and fast motion control difficult ...
Yushan Sun +4 more
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Frontiers in Neurorobotics, 2023 IntroductionThe flexible joint is a crucial component for the inspection robot to flexible interaction with nuclear power facilities. This paper proposed a neural network aided flexible joint structure optimization method with the Design of Experiment ...
Gang Wang +8 more
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Influence of seabed sand wave on hydrodynamic performance of submersible
Zhongguo Jianchuan Yanjiu, 2023 ObjectivesThis paper studies the hydrodynamic characteristics of submersible under the interference of seabed sand wave topography. MethodsBased on the computational fluid dynamics (CFD) method, the process of submersible passing above a seabed sand wave
Peng LI +3 more
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Sensors, 2019 The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper.
Hao Xu +4 more
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Optimal and Adaptive Control of Underwater Vehicles [PDF]
1993 American Control Conference, 1993 Summary: This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm of \textit{R. Johansson} (1990) and a modification of the algorithm found in \textit{S. I. Sagatun} (1992).
Svein I. Sagatun, Rolf Johansson 0001
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Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents
International Journal of Advanced Robotic Systems, 2015 This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation) control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of constant and irrotational ...
Zaopeng Dong +5 more
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PROPELLER FAULT DIAGNOSIS BASED ON A RANK PARTICLE FILTER FOR AUTONOMOUS UNDERWATER VEHICLES
Brodogradnja, 2018 Rank particle filtering was applied to fault diagnosis technology. Control force and yaw moment losses that occurred in the corresponding degrees of freedom were estimated, and the trends of change were calculated by the multi-step-ahead prediction ...
Ye Li +4 more
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A Lightweight Detection Algorithm for Unmanned Surface Vehicles Based on Multi-Scale Feature Fusion
Journal of Marine Science and Engineering, 2023 Lightweight detection methods are frequently utilized for unmanned system sensing; however, when put in complicated water surface environments, they suffer from insufficient feature fusion and decreased accuracy. This paper proposes a lightweight surface
Lei Zhang +3 more
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Finite-Time Trajectory Tracking Control for Uncertain Underactuated Marine Surface Vessels
IEEE Access, 2019 This paper concerns the finite-time trajectory tracking control problem for an underactuated marine surface vessel (MSV) suffering from the external disturbance and parameter uncertainties. First, the virtual velocity command is proposed based on a novel
Lei Zhang +3 more
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International Journal of Advanced Robotic Systems, 2020 This article addresses the design of adaptive target tracking control for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by ocean current.
Jian Cao +5 more
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