相关论文: Model Identification and Controller Parameter Opti…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
This paper introduces a framework for depth and pitch control of underwater vehicles in near-surface wave conditions. By effectively managing tail, sail plane angles and hover tank operations utilizing a Linear Quadratic Regulator…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…
This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to…
In Autonomous Underwater Vehicles (AUVs) design, hull resistance is an important factor in determining the power requirements and range of vehicle and consequently affect battery size, weight, and volume requirement of the design. In this…