Results 1 to 10 of about 460 (124)

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, Yingkai Xia, Guohua Xu
exaly   +5 more sources

Adaptive Path Tracking Control of X-Rudder AUV Under Roll Constraints

Journal of Marine Science and Engineering
This paper addresses the spatial path tracking problem of the X-rudder autonomous underwater vehicle (AUV) under random sea current disturbances.
Yaopeng Zhong, Jianping Yuan, Lei Wan, Zheyuan Zhou, Qingdong Chen   +4 more
doaj   +3 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, Yingying She, Yinghao Zhang, Jun Xu, Lei Wan   +4 more
doaj   +2 more sources

Model‐Free Deep Reinforcement Learning with Multiple Line‐of‐Sight Guidance Laws for Autonomous Underwater Vehicles Full‐Attitude and Velocity Control

Advanced Intelligent Systems
Autonomous underwater vehicles (AUVs) are increasingly utilized, driving the need for enhanced autonomy. Conventional proportional–integral–derivative (PID) algorithms require frequent control parameter adjustments under varying voyage conditions, which ...
Chengren Yuan, Changgeng Shuai, Zhanshuo Zhang, Jianguo Ma, Yuan Fang, YuChen Sun   +5 more
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

Design of X-rudder autonomous underwater vehicle’s quadruple-rudder allocation with Lévy flight character

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.
Guocheng Zhang, Jiangfeng Zeng, Lei Wan   +2 more
exaly   +2 more sources

Adaptive energy-efficient tracking control of a X rudder AUV with actuator dynamics and rolling restriction

Applied Ocean Research, 2022
Yingkai Xia, Wenjin Wang, Guohua Xu
exaly   +2 more sources

Anti-roll control and maneuverability test of X-rudder autonomous underwater vehicle

Zhongguo Jianchuan Yanjiu, 2021
ObjectiveAiming at solving the roll problem of the new X-rudder autonomous underwater vehicle (XAUV) during field tests, a series of anti-roll fixed depth and heading control experiments and maneuverability tests are carried out.
Zhemin HUANG, Zhouji CHENG, Yingkai XIA, Guohua XU, Ben LI, Xingbang PAN   +5 more
doaj   +1 more source

Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV

Journal of Field Robotics, Volume 40, Issue 7, Page 1840-1859, October 2023., 2023
Abstract Hydrobatic autonomous underwater vehicles (AUVs) can be efficient in range and speed, as well as agile in maneuvering. They can be beneficial in scenarios such as obstacle avoidance, inspections, docking, and under‐ice operations. However, such AUVs are underactuated systems—this means exploiting the system dynamics is key to achieving elegant
Sriharsha Bhat, Chariklia Panteli, Ivan Stenius, Dimos V. Dimarogonas   +3 more
wiley   +1 more source

Autonomous control of a prototype solar‐powered offshore autonomous underwater vehicle servicing platform via a low‐cost embedded architecture

Journal of Field Robotics, Volume 40, Issue 4, Page 828-847, June 2023., 2023
Abstract This paper describes the design, implementation, and field‐testing of a low‐cost autonomous control system on the Platform for Expanding Autonomous Underwater Vehicles (AUV) exploRation to Longer ranges (PEARL). PEARL is a floating, solar‐powered platform designed as a servicing station for AUVs.
Ethan S. Rolland, Maha N. Haji, Olivier L. de Weck   +2 more
wiley   +1 more source