相关论文: Trajectory tracking control of a Remotely Operated…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Depth control of underwater vehicles in engineering applications must simultaneously satisfy requirements for rapid tracking, low overshoot, and actuator constraints. Traditional fuzzy PID tuning often relies on empirical methods, making it…
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…
L1 adaptive controller has been recognized for having a structure that allows decoupling between robustness and adaption owing to the introduction of a low pass filter with adjustable gain in the feedback loop. The trade-off between…
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…
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…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper presents a new optimal fuzzy approach based on particle swarm optimization evolutionary algorithm for controlling the servo actuating system. It is clear that attaining the maximum stability margin is the prominent goal in…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
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…
This paper proposes an intelligent fault-tolerant control (FTC) strategy to tackle the trajectory tracking problem of an underwater vehicle (UV) under thruster damage (power loss) cases and meanwhile resolve the actuator saturation brought…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…
This thesis presents fuzzy-L1 adaptive controller and Model Reference Adaptive Control (MRAC) with Prescribed Performance Function (PPF) as two adaptive approaches for high nonlinear systems as two original contribution to the literature.…
Effective data routing is vital in the Internet of Things (IoT) paradigm, especially in underwater mobile sensor networks where inefficiency can lead to significant resource consumption. This article presents an innovative method designed…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…