相关论文: Backstepping-based Integral Sliding Mode Control w…
This paper investigates optimal control problems for delayed systems governed by Infinitely Anticipated Backward Stochastic Differential Equations (IABSDEs). Unlike existing frameworks limited to bounded delays, we introduce a generalized…
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…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
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…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
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…
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays can significantly degrade accuracy when measurement and…
An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
We present an adaptive arbitrary-order accurate time-stepping numerical scheme for the flow of vesicles suspended in Stokesian fluids. Our scheme can be summarized as an approximate implicit spectral deferred correction (SDC) method.…
Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conventional IBVS controllers are vulnerable to two critical…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…