相关论文: Adaptive Control for Marine Vessels Against Harsh …

The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…

This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…

Motivated by engineering applications of subsea installation by deepwater construction vessels in oil drilling, and of aid delivery by unmanned aerial vehicles in disaster relief, we develop output-feedback boundary control of…

This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

Given the trend of digitization and increasing number of maritime transport, prediction of vessel berth stay has been triggered for requirements of operation research and scheduling optimization problem in the era of maritime big data,…

Temporal disorder-random temporal fluctuations of material parameters-has recently emerged as an effective tool for controlling wave propagation, analogous to Anderson localization in spatially disordered systems. Here, we theoretically…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…

Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system,…

Active distribution networks (ADNs) incorporating massive photovoltaic (PV) devices encounter challenges of rapid voltage fluctuations and potential violations. Due to the fluctuation and intermittency of PV generation, the state gap,…

We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…

This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group $SO(3)$ as a novel approach to the attitude tracking problem. The introduced solution consists of two…

The precise control of gas generator pressure is important to obtain variable thrust in ducted rockets. A delay resistant closed loop reference model adaptive control is proposed in this paper to address this problem. The proposed…

Performing intervention tasks in the maritime domain is crucial for safety and operational efficiency. The unpredictable and dynamic marine environment makes the intervention tasks such as object manipulation extremely challenging. This…

In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…

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 novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…