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

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…

Vessel navigation is difficult in restricted waterways and in the presence of static and dynamic obstacles. This difficulty can be attributed to the high-level decisions taken by humans during these maneuvers, which is evident from the fact…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…

A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…

Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control…

In the context of filtering chaotic dynamical systems it is well-known that partial observations, if sufficiently informative, can be used to control the inherent uncertainty due to chaos. The purpose of this paper is to investigate, both…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…

Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…

This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…

In this paper, we exploit a diagonally dominant structure for the decentralized stabilization of unknown nonlinear time-delayed networks. To this end, we first introduce a novel generalization of virtual contraction analysis to diagonally…

This paper proposes an intelligent fault-tolerant control (FTC) strategy to tackle the trajectory tracking problem of an underwater vehicle (UV) under thruster damage (power loss) cases and meanwhile resolve the actuator saturation brought…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

A VecTwin rudder system comprises twin fishtail rudders with reaction fins to increase its performance. With a constant propeller revolution number, the vessel can execute special low-speed maneuvers like hover, crabbing, reverse, and…