Results 1 to 10 of about 936 (166)
A Fault-Tolerant Steering Prototype for X-Rudder Underwater Vehicles [PDF]
Sensors, 2020 The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years, since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder.
Wenjin Wang +5 more
doaj +5 more sources
Research on L1 Adaptive Control of Autonomous Underwater Vehicles with X-Rudder
Journal of Marine Science and Engineering, 2023 This study focuses on addressing the the coupling problem of the vertical and horizontal plane of an autonomous underwater vehicle (AUV) with an X-rudder.
Jianping Yuan +4 more
doaj +2 more sources
Journal of Marine Science and Engineering, 2022 This paper analyzes the trajectory tracking problem in decoupled planes for X-rudder AUVs under time-varying, unknown environmental interferences. The proposed scheme consists of the kinematic control law based on the compound line-of-sight guidance law ...
Chengren Yuan +3 more
doaj +3 more sources
X-rudder submarine falling deep recovery strategy and control method
Zhongguo Jianchuan Yanjiu, 2021 ObjectivesIn order to determine the control method and recovery strategy for submarines falling deep underwater, a six-degrees-of-freedom motion model was established for an X-rudder submarine.MethodsFirst, the control rules of the X-rudder and the ...
Bin HUANG +3 more
doaj +2 more sources
Design of X-rudder autonomous underwater vehicle’s quadruple-rudder allocation with Lévy flight character [PDF]
International Journal of Advanced Robotic Systems, 2017 This article addresses one quadruple-rudder allocation method for an autonomous underwater vehicle (AUV) equipped with X rudder, in which all of the rudders can be operated independently.
Yinghao Zhang +4 more
doaj +2 more sources
Journal of Marine Science and Engineering, 2022 This paper proposes a novel three-dimensional trajectory tracking control methodology for a heterogeneous X-rudder autonomous underwater vehicle (XAUV) that can achieve finite-time convergence, complex actuator dynamics handling, and energy-efficient ...
Yingkai Xia +4 more
doaj +3 more sources
Zhongguo Jianchuan Yanjiu, 2023 ObjectiveDue to the different arrangement and control mode of an underwater vehicle with an X-rudder configuration, the effectiveness of the after-control-surface is influenced by the angle of incidence of the underwater vehicle.MethodsNumerical ...
Jijun CHEN +5 more
doaj +2 more sources
Design and simulation of X-rudder control allocator for Submarine
Zhongguo Jianchuan Yanjiu, 2020 Objectives To solve the steering control problem of X-rudder submarines under different available rudder surfaces conditions, the rudder control distributor of an X-rudder submarine is designed.Methods A cascade control structure including a main ...
SHANG Jianpeng, LI Wenkui, HUANG Yuepeng
doaj +2 more sources
Nonlinear Programming-Based Fault-Tolerant Control for X-Rudder AUVs
水下无人系统学报To fully utilize the fault-tolerant capability of the X-rudder autonomous undersea vehicles (AUVs), a fault-tolerant motion control algorithm for AUVs oriented towards rudder failures was proposed, and it was deployed on a prototype of an X-rudder AUV ...
Ying CHEN
doaj +2 more sources
Defence Technology, 2023 Target strength (TS) and circular synthetic aperture sonar (CSAS) images provide essential information for active acoustic detection and recognition of non-cooperative unmanned undersea vehicles (UUVs), which pose a significant threat to underwater ...
Wenhuan Wang +5 more
doaj +2 more sources