相关论文: Autopilot System for Depth and Pitch Control in Un…

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…

Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

Nowadays an accurate modeling of the system to be controlled is essential for reliable autopilot. This paper presents a non-linear model of the autonomous underwater vehicle 'CWolf'. Matrices and the corresponding coefficients generate a…

Floating wind turbines (FWTs) hold significant potential for the exploitation of offshore renewable energy resources. Nevertheless, prior to the construction of FWTs, it is imperative to tackle several critical challenges, especially the…

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…

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…

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

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…

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…

This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…

Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations.…

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…

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…

In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…

This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…

In under-balanced drilling, the bottom-hole pressure is kept below pore pressure, causing pressure dependent influx of reservoir gas into the wellbore that makes the system unstable at low drawdowns. In this paper we propose a feedback…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

Since the application of Deep Q-Learning to the continuous action domain in Atari-like games, Deep Reinforcement Learning (Deep-RL) techniques for motion control have been qualitatively enhanced. Nowadays, modern Deep-RL can be successfully…