相关论文: Formation Path Following Control of Underactuated …

This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…

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…

A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft and uncrewed vehicles under environmental disturbances such as wind, waves and ocean currents.…

A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…

A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The…

In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the…

Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

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…

This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…

Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…

We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…

Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of…

In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…

This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…

This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…

This paper presents a delay-adaptive boundary control scheme for a $2\times 2$ coupled linear hyperbolic PDE-ODE cascade system with an unknown and arbitrarily long input delay. To construct a nominal delay-compensated control law, assuming…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…