Article
Engineering, Marine
Cris Thomas, Enrico Simetti, Giuseppe Casalino
Summary: The research proposes a unified guidance and control framework for AUVs based on task priority control, incorporating various behaviors. This approach can handle a wide range of scenarios and ensure the safety and efficiency of AUV tasks.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
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.
Article
Automation & Control Systems
Yuanxu Zhang, Jian Gao, Yimin Chen, Chenyi Bian, Fubin Zhang, Qingwei Liang
Summary: This article proposes an unscented Kalman filter-based visual docking controller for underactuated underwater vehicles. The controller estimates the relative pose of the vehicle with respect to a moving docking station using visual measurements. It then designs an adaptive neural network controller to track the desired yaw and pitch angles, while ensuring stability and dealing with input saturation using barrier Lyapunov function and hyperbolic tangent functions, respectively.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Mathematics
Tianlei Wang, Zhenxing Sun, Yun Ke, Chaochao Li, Jiwei Hu
Summary: This paper proposes a two-step adaptive control method to solve the planar type docking problem. The method combines horizontal dynamic positioning and visual servo docking considering ocean current disturbance. Simulation results show that the proposed control method achieves stable and accurate dynamic positioning under current disturbances and successfully compensates for lateral positioning errors.
Article
Engineering, Marine
Jiqing Du, Dan Zhou, Sachiyo Arai
Summary: This study introduces a hybrid control structure, Improved Interfered Fluid Dynamic System Nonlinear Model Predictive Control (IIFDS-NMPC), for path planning and trajectory tracking of autonomous underwater vehicles (AUVs). Through simulation experiments and real-world testing, the proposed approach achieves impressive accuracy and provides a valuable framework for navigation and control in practical applications.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Computer Science, Artificial Intelligence
Tomasz Praczyk
Summary: The paper introduces a neural control system for a swarm of underwater vehicles, consisting of a leader and follower vehicles. The leader guides the swarm along a predetermined trajectory, detects obstacles, and determines obstacle avoidance maneuvers for the whole swarm. The followers follow the leader in a specific formation, equipped with a neural control system designed using a neuro-evolutionary algorithm. The system receives information from the leader, sonar, and a camera observation unit, and has been proven highly effective in simulation.
KNOWLEDGE-BASED SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Zhongcai Zhang, Yuqiang Wu
Summary: This article discusses the trajectory tracking control for an autonomous underwater vehicle (AUV) with model uncertainties and output constraints, using tan-type barrier Lyapunov function and adaptive fuzzy control. State feedback and output feedback tracking controllers are proposed, achieving desired output constraints and bounded closed-loop system signals through analysis. Simulations confirm the validity and feasibility of the designed control strategies.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Engineering, Marine
Cheng Zhu, Li Jun, Bing Huang, Yumin Su, YuXin Zheng
Summary: This paper presents a rotation-matrix-based control scheme for fully actuated autonomous underwater vehicles, taking into account model uncertainties and external disturbances. By using the rotation matrix, the attitude dynamics of the AUV can be represented globally and uniquely without unwinding. However, this representation approach complicates the controller design process as the attitude tracking error is defined by a rotation matrix instead of a three-dimensional vector. To address this issue, an alternative error vector is introduced for simplicity in calculation and implementation. A novel sliding mode surface is then devised to ensure finite-time convergence and singularity-free characteristics. The proposed control scheme is demonstrated to be effective through theoretical analysis and comparative simulations.
Article
Chemistry, Analytical
Bin Jiang, Zhenhua Xu, Shuguo Yang, Yonghua Chen, Qiang Ren
Summary: To meet the requirements of multipoint short-term synchronous offshore surveys, a profile autonomous underwater vehicle system has been developed. It is a small, reusable, low-cost equipment designed to move up and down at a mooring position while measuring temperature, salinity, depth, and other quantities along a vertical water section. It can be commanded remotely and report measurements in near real-time via wireless telemetry.
Article
Engineering, Marine
Bo Xu, Zhaoyang Wang, Hao Shen
Summary: This paper investigates the formation control of AUVs under dynamic switching topology. A formation control system based on intermittent broadcast is established using 2-D Delaunay triangulation and Jaccard index, and a stable formation controller is designed using model predictive control algorithm. Numerical simulations demonstrate the effectiveness of the proposed scheme in connectivity preservation and formation generation.
Article
Engineering, Marine
Bo Xu, Zhaoyang Wang, Qiang Yu, Yu Guo
Summary: In this paper, a double-layer distributed formation prediction control scheme is proposed, including an upper-level adaptive distributed observer and a lower-level predictive controller. The velocity is observed and optimized using the expectation maximization algorithm and adaptive cubature Kalman filter to improve the anti-disturbance performance of the adaptive distributed observer. Constraints such as internal safety distance and input saturation are considered, and a distributed cooperative cost function is constructed based on a virtual trajectory for formation predictive control. The boundedness of innovation and Lyapunov stability are utilized to prove the reliability of the control system, and comparative simulation experiments are conducted to demonstrate the effectiveness and robustness of the proposed method.
Article
Engineering, Marine
Bing Huang, Bin Zhou, Sai Zhang, Cheng Zhu
Summary: This paper investigates the adaptive prescribed performance trajectory tracking control problem for underactuated underwater vehicles and proposes a control method based on command filter-based backstepping design and minimum learning parameter algorithm, effectively avoiding the complexity and computational complexity issues inherent in neural networks.
Article
Computer Science, Artificial Intelligence
Yi Shi, Wei Xie, Weixing Chen, Lantao Xing, Weidong Zhang
Summary: This article investigates a neural adaptive intermittent output feedback control for autonomous underwater vehicles (AUVs) with full-state quantitative designs (FSQDs). The FSQDs are designed to achieve prespecified tracking performance determined by quantitative indices by transforming the constrained AUV model into an unconstrained model using hyperbolic cosecant boundaries and nonlinear mapping functions. An intermittent sampling-based neural estimator (ISNE) is devised to reconstruct disturbances and immeasurable velocity states, and an intermittent output feedback control law is designed to achieve ultimately uniformly bounded results by incorporating a hybrid threshold event-triggered mechanism (HTETM). Simulation results validate the effectiveness of the control strategy with application to an omnidirectional intelligent navigator (ODIN).
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Automation & Control Systems
Jing Yan, Silian Peng, Xian Yang, Xiaoyuan Luo, Xinping Guan
Summary: This article focuses on the containment control problem for AUVs, addressing the issue of unavailable velocity signals in the cyber side and stochastic environment disturbances in the physical side. A terminal sliding mode observer is developed to estimate the AUVs' velocities in finite time. A distributed containment controller is designed based on the estimated velocities to track a convex hull formed by the trajectories of leader AUVs. The use of a double power reaching law in the velocity observer reduces chattering and improves convergence rate, while an adaptive strategy in the containment controller compensates for steady-state errors caused by stochastic disturbances.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Cheng Zhu, Bing Huang, Bin Zhou, Yumin Su, Enhua Zhang
Summary: This paper presents a model-parameter-free control strategy for the trajectory tracking problem of autonomous underwater vehicles, using two control architectures to achieve desired trajectories with improved system reliability under actuator failures. The proposed controllers leverage sliding mode control technology and adaptive algorithms to handle nonlinear dynamics of underwater vehicles, demonstrating validity through theoretical analysis and numerical simulations.
Article
Automation & Control Systems
Leonardo Pedroso, Pedro Batista
Summary: This article proposes a general approach for designing a decentralized control solution for a network of agents. By formulating the problem as a classical linear quadratic regulator problem and building on the existing solutions, the method is able to compute and validate stabilizing regulator gains with scalability.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Ivan Andrushka, Pedro Batista, Paulo Oliveira, Carlos Silvestre
Summary: The main contributions of this article are the design of a decentralized controller and state estimator for linear time-periodic systems with fixed network topologies. The proposed method tackles both problems by reformulating the linear periodic dynamics as a linear time-invariant system and designing a discrete-time decentralized controller and state estimator for the time-lifted formulation. The performance of the proposed solutions is demonstrated through simulation results and numerical simulations using the Monte Carlo method.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Xuan-Zhi Zhu, David Cabecinhas, Wei Xie, Pedro Casau, Carlos Silvestre, Pedro Batista, Paulo Oliveira
Summary: This paper proposes a control strategy for trajectory tracking of a quadcopter, which is adaptable to parametric uncertainties and external disturbances. Simulation and experimental results validate the stability and robustness of the proposed strategy.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2023)
Article
Automation & Control Systems
Gan Yu, Wei Xie, David Cabecinhas, Rita Cunha, Carlos Silvestre
Summary: This paper addresses the design of a trajectory tracking controller for a quadrotor with an unknown mass slung-load. An adaptive controller with online estimation is proposed using the backstepping technique, which includes nonlinear control laws for thrust and angular velocity, and an adaption law for mass estimation. The proposed controller guarantees the convergence of trajectory tracking and estimation errors to zero, and is robust to variations in load mass. Simulation and experimental results are presented to validate the proposed controller's effectiveness and performance.
Article
Engineering, Marine
Pedro Mendes, Pedro Batista, Paulo Oliveira, Carlos Silvestre
Summary: This work presents and compares several cooperative navigation solutions for formations of autonomous underwater vehicles, equipped with depth sensors and capable of taking bearing measurements to their neighbors under a certain measurement topology. The paper describes two approaches based on the extended Kalman filter, one centralized and the other decentralized, which have different benefits. Additionally, four other Kalman filter implementations, based on systems with linear dynamics using artificial measurements, are compared in terms of performance.
Article
Automation & Control Systems
Zhenkun Huang, Mengmeng Wang, Carlos Silvestre, Sergey Gorbachev, Jinde Cao
Summary: In this article, the problem of time-scale exponential antisynchronization of delayed neural networks by impulsive control is studied. A new time-scale integral delay inequality is established based on the time scale theory. Using this novel inequality and Lyapunov techniques, several new sufficient conditions are proposed to ensure antisynchronization of the two delayed network systems with impulsive control. Finally, numerical simulations illustrate the validity of the obtained results.
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
(2023)
Article
Automation & Control Systems
Linghuan Kong, Wei He, Zhijie Liu, Xinbo Yu, Carlos Silvestre
Summary: In this article, a novel adaptive tracking control technique is developed for multiple-input-multiple-output nonlinear systems with model uncertainty and under output constraints occurring in a limited time interval (OCOLT). The technique transforms the constrained system into an unconstrained one using a new shift function and barrier functions, and estimates unknown disturbances using a disturbance observer. The proposed technique is able to handle output constraints, constraint-free output, and infinite-time constraints without modifying the control structure, and its effectiveness is assessed through simulation.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Article
Engineering, Marine
Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre
Summary: This paper addresses the problem of estimating the heave motion of a platform using biased measurements of an accelerometer. A general framework is developed to exploit properties of trigonometric functions for designing a linear system to represent wave amplitudes, phase shifts, and sensor bias implicitly. The observability of the system is analyzed and a discrete-time linear time-varying Kalman filter is implemented with global asymptotic stability guarantees. Realistic numerical examples validate the proposed methodology, including the accurate representation of a continuous wave spectrum within an ocean context.
Article
Robotics
Gan Yu, Joel Reis, Carlos Silvestre
Summary: This letter presents an adaptive nonlinear controller design and experimental study for UAVs in the presence of unknown disturbances and model uncertainty. A neural network is used to approximate the unknown system, along with a simple controller for trajectory tracking. The weights of the neural network are determined online using an adaptive law based on the Lyapunov synthesis method. Simulation and experimental results validate and assess the proposed control solution.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Computer Science, Artificial Intelligence
Joel Reis, Wei Xie, David Cabecinhas, Carlos Silvestre
Summary: In this article, the problem of path following control of an underactuated autonomous surface vehicle in the presence of external disturbances and model parametric uncertainty is addressed. A nonlinear control law is derived using the conventional Lyapunov-based backstepping technique to determine a vectored actuation composed of a thrust direction and a thrust force bounded with respect to the position error. The proposed strategy compensates for errors due to both model parametric uncertainty and exogenous disturbances using bounded integral actions, making the origin of the error system a global attractor. The efficacy and robustness of the proposed strategy are validated through simulation results and experimental trials using a fully autonomous instrumented surface craft.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2023)
Article
Automation & Control Systems
Linghuan Kong, Joel Reis, Wei He, Carlos Silvestre
Summary: In this article, a methodology is developed for trajectory tracking control of a VTOL UAV in the presence of unknown mass and time-varying external disturbances. A time-dependent shift function and a set of barrier vector functions are introduced to constrain the position and velocity errors within a finite time period. The proposed controller includes stable adaptation laws to estimate the UAV mass and a parameter related to the external disturbances bound. The total closed-loop system error is proven to be uniformly ultimately bounded. Simulation and experimental results validate the proposed solution, demonstrating its effectiveness in real-world applications.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Automation & Control Systems
Gan Yu, Joel Reis, David Cabecinhas, Rita Cunha, Carlos Silvestre
Summary: This paper proposes a novel control framework for trajectory tracking control of a quadrotor-slung-load system. A virtual point located along the cable between the vehicle and the payload is considered in the design of tracking controllers, which differs from traditional approaches. The control framework is simple yet effective, ensuring almost global asymptotic stability in the presence of constant external disturbances. Experimental results validate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Robotics
Yanhu Wang, Gan Yu, Wei Xie, Weidong Zhang, Carlos Silvestre
Summary: This paper addresses the robust trajectory tracking problem for a Quadrotor-Slung-Load System (QSLS), proposing a controller design that can compensate for model uncertainties and time-varying disturbances. A coordinate transformation strategy is utilized to simplify the design process.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
