相关论文: Dynamic Modeling and Adaptive Controlling in GPS-I…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial processes. Their conventional models become inappropriate and have limited scope if one requires a precise and…
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…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Dynamical systems models for controlling multi-agent swarms have demonstrated advances toward resilient, decentralized navigation algorithms. We previously introduced the NeuroSwarms controller, in which agent-based interactions were…
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.…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…
In this paper, robust control with sea state observer and dynamic thrust allocation is proposed for the Dynamic Positioning (DP) of an accommodation vessel in the presence of unknown hydrodynamic force variation and the input time delay. In…
To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing…
The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…
To address non-linear disturbances and uncertainties in complex marine environments, this paper proposes a disturbance-resistant controller for deep-sea cranes. The controller integrates hierarchical sliding mode control, adaptive control,…
Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed in developing learning machine based…
Marine buoy is an important part of underwater acoustic communication system. It is of great significance to track and locate it. It is widely used in ocean environment three - dimensional monitoring, underwater multimedia communication,…
This study proposes a novel artificial intelligence (AI) driven flight computer, integrating an online free-retraining-prediction model, a swarm control, and an obstacle avoidance strategy, to track dynamic targets using a distributed drone…