相关论文: 3D Path Following and L1 Adaptive Control for Unde…
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…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
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 article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…
Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…
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…
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…