Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB
Sign Up to like & getrecommendations! Published in 2018 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-018-4374-z
Abstract: This paper investigates the leader–follower formation problem of multiple underactuated autonomous surface vessels in the presence of model uncertainties and environmental disturbances. Specially, the formation is defined in the body-fixed coordinates of the leader vessel… read more here.
Keywords: autonomous surface; dob; leader; formation ... See more keywords
Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Shanghai Jiaotong University (Science)"
DOI: 10.1007/s12204-020-2195-y
Abstract: This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed controller can achieve practical convergence of tracking errors for general reference… read more here.
Keywords: three dimensional; underwater vehicles; dimensional trajectory; autonomous underwater ... See more keywords
Observer-based adaptive tracking control of underactuated autonomous marine vehicle with uncertainty dynamic
Sign Up to like & getrecommendations! Published in 2020 at "Applied Ocean Research"
DOI: 10.1016/j.apor.2020.102364
Abstract: Abstract This study presents the problem of tracking control for underactuated autonomous marine vehicle in condition to uncertainty dynamic and unavailable velocity. A robust controller for tracking control is designed by employing backstepping method, multi-layer… read more here.
Keywords: control; tracking control; marine vehicle; underactuated autonomous ... See more keywords
Design for three-dimensional stabilization control of underactuated autonomous underwater vehicles
Sign Up to like & getrecommendations! Published in 2018 at "Ocean Engineering"
DOI: 10.1016/j.oceaneng.2017.12.071
Abstract: Abstract In order to realize three-dimensional stable control of underactuated autonomous underwater vehicles (AUVs), this study analyses nonlinear hydrodynamic characteristics of AUVs based on the mathematical Taylor series. The nonholonomic control system properties of AUVs… read more here.
Keywords: three dimensional; underwater vehicles; control; autonomous underwater ... See more keywords
Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2018.2868978
Abstract: This paper is concerned with the target tracking of underactuated autonomous surface vehicles with unknown dynamics and limited control torques. The velocity of the target is unknown, and only the measurements of line-of-sight range and… read more here.
Keywords: autonomous surface; control; underactuated autonomous; tracking underactuated ... See more keywords