相关论文: A Hybrid Tracking Control Strategy for an Unmanned…

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…

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…

The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource…

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 survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

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…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…

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…

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…

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…

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…

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…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…

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.…

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…

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 recent years, autonomous underwater vehicle (AUV) swarms are gradually becoming popular and have been widely promoted in ocean exploration or underwater tracking, etc. In this paper, we propose a multi-AUV cooperative underwater…