Results 11 to 20 of about 1,115 (112)
IET Control Theory &Applications, Volume 16, Issue 6, Page 587-599, April 2022., 2022 Abstract The problem of trajectory tracking control for underactuated surface vessels with time‐delays, model uncertainty and unknown control directions has been considered in this paper. Firstly, an integration time delayed sliding mode controller is proposed, which decomposes the underactuated non‐linear system into a cascading system consisting of a
Hua Chen, Yun Chen, Mengqi Wang
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Mathematical Problems in Engineering, Volume 2022, Issue 1, 2022., 2022 This study provides a new embedded linear model (ELM) three‐dimensional fuzzy PID control method for a bionic autonomous underwater vehicle (AUV), which is disturbed by ocean waves. The uncertainty of the ocean waves will make it difficult for the AUV to achieve good sailing quality, especially near the sea surface.
Da Lyu +6 more
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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 and the dynamic control law based on a non-singular adaptive integral terminal sliding mode control (
Chengren Yuan +3 more
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Journal of Robotics, Volume 2021, Issue 1, 2021., 2021 Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications, from bomb searching and recovery to sea exploration. Initially, these robots were used mainly for military and scientific purposes.
Javier Neira +6 more
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Composite Curve Path following an Underactuated AUV
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 This paper addresses the problem of composite curve path following for an underactuated autonomous underwater vehicle by utilizing an adaptive integral line‐of‐sight (AILOS) guidance and nonlinear iterative sliding mode (NISM) controller. First, the composite curve path is parametrized by a common scalar variable in a continuous way.
Ben Li +5 more
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Deep Reinforcement Learning for Vectored Thruster Autonomous Underwater Vehicle Control
Complexity, Volume 2021, Issue 1, 2021., 2021 Autonomous underwater vehicles (AUVs) are widely used to accomplish various missions in the complex marine environment; the design of a control system for AUVs is particularly difficult due to the high nonlinearity, variations in hydrodynamic coefficients, and external force from ocean currents.
Tao Liu, Yuli Hu, Hui Xu, Shenggang Li
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A Staged Finite‐Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles
Complexity, Volume 2021, Issue 1, 2021., 2021 The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite‐time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at ...
Hui Ye +4 more
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Research Progress of Path Planning Methods for Autonomous Underwater Vehicle
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 Path planning is a key technology for autonomous underwater vehicle (AUV) navigation. With the emphasis and research on AUV, AUV path planning technology is continuously developing. Path planning techniques generally include environment modelling methods and path planning algorithms.
Yinjing Guo +4 more
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Active Disturbance Rejection Control of Underwater Vehicle with Omnidirectional Control
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 This paper focuses on the omnidirectional drive characteristics and autonomous control of the underwater saucer glider under the condition of underactuated and multiconstraints. Firstly, the dynamic model of the underwater saucer glider is established, and the underactuated control characteristics and the plane biaxial symmetry structure ...
Wen-Qing Zhang +5 more
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Manoeuvring Experiments Using the MUN Explorer AUV [PDF]
, 2007 Autonomous Underwater Vehicles (AUVs) are self-propelled robotic platforms that can perform a predetermined mission completely unmanned. A series of manoeuvring experiments were performed using the MUN Explorer AUV during the summer of 2006 and a ...
Adams, S +6 more
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