相关论文: Adaptive Lyapunov-constrained MPC for fault-tolera…

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…

Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…

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…

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…

This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…

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 paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…

Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…

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…

Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…

This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…

Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…

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…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…

This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…

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…

Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…

This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…