Results 151 to 160 of about 936 (166)

Design and simulation of X-rudder AUV's motion control

Ocean Engineering, 2017
Abstract This paper addresses the problem of motion control for autonomous underwater vehicles (AUVs) equipped with X rudder, in which all of the rudders can be operated independently. In order to offer accurate and reliable control ability, with the X rudder's character taken into consideration, one anti-normalization method based on virtual rudders
Yinghao Zhang, Yueming Li, Yushan Sun, Jiangfeng Zeng, Lei Wan   +4 more
openaire   +1 more source

Research on reconstructive fault-tolerant control of an X-rudder AUV

OCEANS 2016 MTS/IEEE Monterey, 2016
To ensure the X-rudder autonomous underwater vehicle (AUV) complete the mission in the case of motion actuators failure, a fault-tolerant motion control method based on reconstructive approach is designed in this paper. This fault-tolerant motion control method is composed by double-rudder allocation and triple-rudder allocation, which are based on X ...
null Yinghao Zhang, null Jiangfeng Zeng, null Yueming Li, null Yushan Sun, null Lei Wan, null Shuling Huang   +5 more
openaire   +1 more source

Optimal robust trajectory tracking control of a X-rudder AUV with velocity sensor failures and uncertainties

Ocean Engineering, 2020
Abstract This paper presents an optimal robust control method for trajectory tracking of a X-rudder autonomous underwater vehicle (AUV) subjects to velocity sensor failures and uncertainties. Two reduced-order extended state observers (ESOs) are designed to estimate the surge and heave velocities, and the estimated values are used to replace all the ...
Yingkai Xia, Kan Xu, Wenjin Wang, Guohua Xu, Xianbo Xiang, Ye Li   +5 more
openaire   +1 more source

Motion control methods for X-rudder underwater vehicles: Model based sliding Mode and non-model based iterative sliding mode

Ocean Engineering, 2020
Abstract This paper focuses on motion controller design for x-rudder underwater vehicles with four independent stern rudders where the conventional ganging method for maneuvering is not applicable. To realize the cooperation of the stern rudders, motion controller of an x-rudder underwater vehicle is divided into two parts, a dynamics controller and ...
Wenjin Wang, Yingkai Xia, Ying Chen, Guohua Xu, Zhongxiang Chen, Kan Xu   +5 more
openaire   +1 more source

Research on X-rudder UUV fault-tolerant control technology

Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, 2022
Hao Xu, Pei Zhang, Jiaxiang Feng, Youbin Ge   +3 more
openaire   +1 more source

Robust Propulsion Control for a Class of X-rudder Autonomous Underwater Vehicle

2022 International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE), 2022
Muhammad Mudassir, Umair Kamal, Hasnain Aslam, Azib Gulzar   +3 more
openaire   +1 more source

Analysis of maneuverability of X-rudder submarine considering environmental disturbance and jamming situations

Applied Ocean Research, 2022
Myungjun Jeon, Hyeon Kyu Yoon, Jongyong Park, Youngjun You   +3 more
openaire   +1 more source

Robust trajectory tracking and control allocation of X-rudder AUV with actuator uncertainty

Control Engineering Practice, 2023
Wenjin Wang, Tao Wen, Xiao He, Guohua Xu
openaire   +1 more source

Design of X-rudder AUV’s Motion Control using Sliding Mode Control with Optimal Rudder Allocation Technique

2022 19th International Bhurban Conference on Applied Sciences and Technology (IBCAST), 2022
Yasir Ameer, Umair Kamal, Attaullah Y. Memon   +2 more
openaire   +1 more source