Article
Engineering, Civil
Chenggang Wang, Wenbin Yu, Shanying Zhu, Lei Song, Xinping Guan
Summary: This article proposes a novel hierarchical safety-critical framework for the control of AUVs, which includes waypoint-based optimal trajectory generation and tracking. It aims to generate a smooth and feasible trajectory for AUVs and ensure their operation in a safe region. The offline trajectory generator and the online controller are designed to achieve this objective.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2023)
Article
Engineering, Marine
Linling Wang, Xiaoyan Xu, Bing Han, Huapeng Zhang
Summary: In this paper, a multi-autonomous underwater vehicle (multi-AUV) formation control method with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. The effectiveness and superiority of the proposed algorithm are confirmed via simulation and compared with those of other algorithms.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Jinjiang Li, Xianbo Xiang, Donglei Dong, Shaolong Yang
Summary: This paper addresses the trajectory tracking control problem of autonomous underwater vehicles with tracking error constraints and prescribed time convergence. It proposes a disturbance observer and an auxiliary dynamic system to achieve prescribed time disturbance attenuation and handle input saturation phenomenon, resulting in a robust tracking control scheme with both prescribed time convergence and transient performance constraints. Numerical simulation studies illustrate the superiority and benefits of the proposed algorithm.
Article
Engineering, Marine
Bo Xu, Zhaoyang Wang, Weihao Li, Qiang Yu
Summary: In this paper, a navigation control integration framework based on communication-measurement union is proposed to solve the poor observability problem of underwater acoustic communication interactions. A control protocol based on distributed robust model predictive control is designed for efficient cooperation coordination between AUVs. The proposed control method can achieve formation-containment tracking even in the presence of external disturbances, as proven by the Lyapunov theory.
Article
Engineering, Ocean
Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi
Summary: This study proposes an adaptive motion planning and obstacle avoidance technique based on deep reinforcement learning for autonomous underwater vehicles. The research utilizes a twin-delayed deep deterministic policy algorithm and develops a comprehensive reward function. The simulation results demonstrate the effectiveness of the system in guiding the vehicle to the target and its appropriate generalization power.
APPLIED OCEAN RESEARCH
(2022)
Article
Engineering, Marine
Tianqi Xie, Ye Li, Yanqing Jiang, Shuo Pang, Xuefeng Xu
Summary: A three-dimensional mobile docking control method is proposed to control an underactuated autonomous underwater vehicle (AUV) to complete a mobile docking mission. It consists of a docking position estimation method, a control strategy with a switched guidance algorithm, and an observer-based backstepping sliding mode controller.
Review
Automation & Control Systems
Hongjiu Yang, Zhengyu Wang, Yuanqing Xia, Zhiqiang Zuo
Summary: This paper presents an event-triggered model predictive control (EMPC) with adaptive artificial potential field (APF) for obstacle avoidance and trajectory tracking of autonomous electric vehicles. An adaptive APF cost function is used to achieve obstacle avoidance and ensure stability. By considering a special obstacle avoidance constraint, the optimization problem for MPC is feasible. An event-triggered mechanism is proposed to reduce computational burden and ensure the effectiveness of obstacle avoidance. Experimental results on autonomous electric vehicles demonstrate the effectiveness of both obstacle avoidance and trajectory tracking.
Article
Robotics
Fahimeh S. Tabatabaee-Nasab, S. Ali A. Moosavian, Ali Keymasi Khalaji
Summary: This article focuses on the problem of operator faults in controlling nonlinear devices and proposes a fault tolerance control scheme using adaptive rules. By using kinematics and dynamics modeling, a control algorithm for trajectory tracking of underactuated autonomous underwater vehicles (AUVs) is designed. The effectiveness of the proposed method is demonstrated by comparing it with other common control methods.
Article
Engineering, Marine
Hongxuan Chen, Guoyuan Tang, Shufeng Wang, Wenxuan Guo, Hui Huang
Summary: An adaptive fixed-time backstepping control method is proposed for achieving three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the presence of model uncertainty and external disturbances. The dynamics of the AUV with five degrees of freedom (DOFs) are discussed, and a virtual velocity guidance law is derived using the backstepping method. The proposed control scheme demonstrates theoretical convergence of tracking error to a small bounded field within a fixed time, and simulation results verify its effectiveness and superiority.
Article
Engineering, Marine
Huy Ngoc Tran, Thanh Nguyen Nhut Pham, Sik Hyeung Choi
Summary: This study presents a depth tracking controller designed for a hybrid AUV to address model uncertainty and propeller torque's effect, utilizing a nonlinear disturbance observer and backstepping technique. The effectiveness and stability of the controller are ensured through numerical simulation.
Article
Engineering, Ocean
Hongwei Zhang, Shitong Zhang, Yanhui Wang, Yuhong Liu, Yanan Yang, Tian Zhou, Hongyu Bian
Summary: This study developed a scheme using AUV equipped with MBES and FLS for automatic inspection of submarine pipelines, with sea trial results verifying its effectiveness. The adoption of VBS system enhances navigation efficiency, and an improved Otsu algorithm is proposed to improve obstacle avoidance.
APPLIED OCEAN RESEARCH
(2021)
Article
Automation & Control Systems
Xiang Cao, Lu Ren, Changyin Sun
Summary: This study proposes an autonomous underwater vehicle tracking control method based on trajectory prediction. Through advanced target detection algorithms and time profit Elman neural networks, accurate prediction and stable tracking of underwater dynamic targets are achieved.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Engineering, Marine
Lu Liu, Lichuan Zhang, Guang Pan, Shuo Zhang
Summary: Autonomous underwater vehicles (AUVs) have significant research attention in marine science and technology due to their wide applications and ability to replace humans in dangerous operations. In this study, a robust fractional-order proportional-integral-derivative (FOPID) controller design for an AUV yaw control system is proposed. The simulation results demonstrate the superior robustness and transient performance of the proposed control algorithm.
Article
Automation & Control Systems
Shiming He, Liwei Kou, Yanjun Li, Ji Xiang
Summary: This article addresses the OSTT controller design problem for AUVs with separate forces or torques for surge, heave, roll, and yaw, in the presence of hydrodynamic uncertainties and external disturbances. The effectiveness of the proposed method is illustrated by both simulation results and experimental results.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Chemistry, Analytical
Wenyang Gan, Lixia Su, Zhenzhong Chu
Summary: This paper proposes a trajectory planning method based on the Gauss pseudospectral method to address the obstacle avoidance problem of autonomous underwater vehicles (AUVs) in complex environments. By establishing a multi-constraint trajectory planning model and transforming the optimal control problem into a nonlinear programming problem, the trajectory that satisfies the optimization objective can be obtained. The effectiveness of the cubic spline interpolation method in solving the optimal control problem is verified through simulation results.
Article
Robotics
Ali Keymasi Khalaji, Mostafa Jalalnezhad
Summary: This paper aims to design a stabilizing controller for a car with n connected trailers using the Lyapunov theory. The control algorithm is analyzed to navigate the system towards the desired point considering slip phenomenon as a main source of uncertainty. Mathematical models are presented followed by a stabilizing control approach and an uncertainty estimator to overcome wheel slip effects, showing convergence properties of the proposed control algorithm against slip phenomenon.
Article
Mathematics, Applied
Ali Keymasi Khalaji, Mostafa Jalalnezhad
Summary: This paper presents a control algorithm for n-trailer wheeled mobile robots (NTWMR) in forward and backward motions, taking into account the wheel slip effects and utilizing a slip compensation procedure to maintain overall performance and track reference trajectories. By estimating and compensating for slip effects, stable control of the system is achieved.
JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS
(2021)
Article
Automation & Control Systems
Niloufar Sadat Seyfi, Ali Keymasi Khalaji
Summary: This research proposes a redundant cable-driven robust rehabilitation robot that helps and automates the proper function of patients' lower and upper limbs in the presence of uncertainties, disturbances, noise, and time delay. A new control algorithm is used to achieve the best tracking with minimal deviations. The efficiency and superior performance of the control algorithm, as well as the new path-planning approach, are demonstrated. The study shows significant improvements in the lower limb and upper limb with the existence of uncertainties, disturbances, noise, and time delay.
Article
Engineering, Mechanical
Ali Keymasi Khalaji, Mahdi Ghane
Summary: This paper focuses on the control of an Autonomous Underwater Vehicle (AUV) through the use of nonlinear PID-based kinematic control and Lyapunov-based dynamic control. The proposed control formulation does not require any model transformation or approximation, and it is formulated in the original configuration space of the system.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Automation & Control Systems
Hami Tourajizadeh, Mahdi Yousefzadeh, Ali Keymasi Khalaji, Mahdi Bamdad
Summary: This paper proposes a new controllable simulator for experimental tests of aircraft models in wind tunnels. The use of a cable robot as the mechanism to manipulate the aircraft model minimizes the disturbing drag force and allows for precise control of all degrees of freedom. MATLAB simulations validate the effectiveness of the proposed mechanism and control strategy.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Engineering, Mechanical
Ali Keymasi Khalaji, Monem Haghjoo
Summary: An adaptive passivity-based algorithm and disturbance estimator are proposed for tracking control of AUV, achieving stability through estimating unknown parameters and disturbances.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Hadi Sazgar, Ali Keymasi Khalaji
Summary: This paper presents an integrated adaptive control method for longitudinal and lateral vehicle guidance on highways. The proposed controller can handle changes in tyre-road friction with low computational cost and is resistant to unmodeled uncertainties.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
(2022)
Article
Robotics
Niloufar Sadat Seyfi, Ali Keymasi Khalaji
Summary: This study presents an upper limb cable-driven rehabilitating robot with one degree of redundancy to improve the movements of the injured. A novel robust tracking controller is introduced to achieve better responses and robustness.
Article
Robotics
Fahimeh S. Tabatabaee-Nasab, S. Ali A. Moosavian, Ali Keymasi Khalaji
Summary: This article focuses on the problem of operator faults in controlling nonlinear devices and proposes a fault tolerance control scheme using adaptive rules. By using kinematics and dynamics modeling, a control algorithm for trajectory tracking of underactuated autonomous underwater vehicles (AUVs) is designed. The effectiveness of the proposed method is demonstrated by comparing it with other common control methods.
Article
Automation & Control Systems
Ali Keymasi Khalaji, Shahab Bahrami
Summary: This paper addresses the trajectory tracking control of an underwater vehicle in three-dimensional (3D) space. A robust control method using a finite-time sliding mode controller is proposed for a 6-degree-of-freedom underwater vehicle, without simplifications or decouplings. Both system positions and orientations are controlled in the presence of disturbances and uncertainties. The proposed approach is effective and applicable in practice, providing stable control for complex tasks and attenuating external disturbances.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Multidisciplinary Sciences
Rasoul Zahedifar, Ali Keymasi Khalaji
Summary: An adaptive backstepping method is proposed to regulate the blood glucose of type-1 diabetic patients induced by meals. The method utilizes a backstepping controller and an adaptive algorithm to control and compensate for the blood glucose. Experimental results demonstrate the stability and effectiveness of this control method.
SCIENTIFIC REPORTS
(2022)
Article
Engineering, Mechanical
MohammadBagher Maghsoudi Mehrabani, Ali Keymasi Khalaji, Mahdi Ghane
Summary: This paper investigates the ensemble control of a group of wheeled robots in the presence of uncertainties and environmental obstacles. The control is achieved using virtual potential functions, and an algorithm for guiding the group of robots through obstacles is presented.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
(2023)
Article
Automation & Control Systems
Seyed Mohammadreza Esmaeili, Rasoul Zahedifar, Ali Keymasi-Khalaji
Summary: This paper presents a fault-tolerant fixed-time prescribed performance microelectromechanical system gyroscope using the adaptive backstepping method. The control protocol ensures robustness to extreme disturbance and actuator faults while allowing user-adjustable performance and settling time. Uncertainties in the system, external disturbances, and actuator faults are considered. The algorithm based on backstepping method and adaptive estimations achieves fixed-time convergence of errors to a small set near zero, followed by stability verification using Lyapunov theory. Simulation examples demonstrate the effectiveness of the proposed control scheme in both severe and uncertain scenarios.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Automation & Control Systems
Nava Rezvani, Ali Keymasi-Khalaji
Summary: An optimal voltage control algorithm was designed using nonlinear predictive control approach in this research. Taylor expansion sequence was used to estimate the final position and radial basis function neural network was used to approximate unknown disturbances. The designed controller showed better performance and robustness according to the obtained results.
IET CONTROL THEORY AND APPLICATIONS
(2023)
