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

This paper examines the dynamics of power-electronic inverters in islanded microgrids that are controlled to emulate the dynamics of Van der Pol oscillators. The general strategy of controlling inverters to emulate the behavior of nonlinear…

This paper studies the model of the probe-drogue aerial refueling system under aerodynamic disturbances, and proposes a docking control method based on terminal iterative learning control to compensate for the docking errors caused by…

Reducing Noise, Vibration, and Harshness (NVH) in electric drives is crucial for applications such as electric vehicle drivetrains and heat-pump compressors, where strict NVH requirements directly affect user satisfaction and component…

The maritime industry's continuous commitment to sustainability has led to a dedicated exploration of methods to reduce vessel fuel consumption. This paper undertakes this challenge through a machine learning approach, leveraging a…

This paper presents a model based adaptive monitoring method for the estimation of flow tracers, with application to mapping, prediction and observation of oil spills in the immediate aftermath of an incident. Autonomous agents are guided…

Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…

This paper presents the application of a novel data-driven adaptive control technique, called dynamic mode adaptive control (DMAC), for regulating thrust in a solid fuel ramjet (SFRJ). A high-fidelity computational model incorporating…

Human error is a substantial factor in marine accidents, accounting for 85% of all reported incidents. By reducing the need for human intervention in vessel navigation, AI-based methods can potentially reduce the risk of accidents. AI…

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…

This paper considers random access in deadline-constrained broadcasting with frame-synchronized traffic. To enhance the maximum achievable timely delivery ratio (TDR), we define a dynamic control scheme that allows each active node to…

This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Dynamical compensation (DC) provides robustness to parameter fluctuations. As an example, DC enable control of the functional mass of endocrine or neuronal tissue essential for controlling blood glucose by insulin through a nonlinear…

In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical applications. However, the efficiency and maneuverability of…