相关论文: Backstepping-based Integral Sliding Mode Control w…
In order to improve the vessel's capacity and ensure maritime traffic safety, vessel intelligent trajectory prediction plays an essential role in the vessel's smart navigation and intelligent collision avoidance system. However, current…
In contemporary data-driven environments, the generation and processing of multivariate time series data is an omnipresent challenge, often complicated by time delays between different time series. These delays, originating from a multitude…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
The calibration of extrinsic parameters and clock offsets between sensors for high-accuracy performance in underwater SLAM systems remains insufficiently explored. Existing methods for Doppler Velocity Log (DVL) calibration are either…
In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
Unconditionally stable time stepping schemes are useful and often practically necessary for advancing parabolic operators in multi-scale systems. However, serious accuracy problems may emerge when taking time steps that far exceed the…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
In this paper we propose two numerical algorithms to solve a coupled PDE-ODE system which models a slow vehicle (bottleneck) moving on a road together with other cars. The resulting system is fully coupled because the dynamics of the slow…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…
Uncertainties in the environment and behavior model inaccuracies compromise the state estimation of a dynamic obstacle and its trajectory predictions, introducing biases in estimation and shifts in predictive distributions. Addressing these…
Ocean exploration utilizing autonomous underwater vehicles (AUVs) via reinforcement learning (RL) has emerged as a significant research focus. However, underwater tasks have mostly failed due to the observation delay caused by information…
This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…
Accurate tracking of underwater acoustic sources is critical for a variety of marine applications, yet remains a challenging task due to communication constraints and environmental uncertainties. In this regard, this paper addresses the…
This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel…
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms,…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
Backstepping is a mature and powerful Lyapunov-based design approach for a specific set of systems. Throughout the development over three decades, innovative theories and practices have extended backstepping to stabilization and tracking…
Accurate and continuous localization of Autonomous Underwater Vehicles (AUVs) in GPS-denied environments is a persistent challenge in marine robotics. In the absence of external position fixes, AUVs rely on inertial dead-reckoning, which…
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system…