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
Automation & Control Systems
Karl L. Fetzer, Sergey G. Nersesov, Hashem Ashrafiuon
Summary: This article introduces a novel nonlinear trajectory tracking control framework for general three-dimensional models of underactuated vehicles, which can uniformly asymptotically stabilize all six pose states and is applicable to underwater, air, and space vehicles; a novel transformation is introduced to simplify the representation of error dynamics, and the error dynamics is stabilized using traditional nonlinear control approach.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(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
Engineering, Marine
Weilin Luo, Shuai Liu
Summary: In this paper, a disturbance observer based nonsingular fast terminal sliding mode control (NFTSMC) is proposed for trajectory tracking control of an underactuated autonomous underwater vehicle (AUV). A nonlinear disturbance observer (DO) is designed to estimate complex external disturbances and incorporated into a NFTSMC. Simulation results demonstrate the effectiveness and improved convergence rate of the proposed NFTSMC, as well as its robustness to various disturbances.
Article
Computer Science, Hardware & Architecture
Wenjun Ding, Lei Zhang, Guozong Zhang, Chiyu Wang, Yajun Chai, Zhaoyong Mao
Summary: This paper explores the 3D trajectory tracking of underactuated AUVs in a strong disturbance environment. By establishing kinematics and dynamics equations and utilizing a combination of nonlinear disturbance observer and sliding mode control, the trajectory tracking of underwater unmanned clusters is achieved. Simulation experiments demonstrate that the proposed algorithm significantly enhances the anti-disturbance ability in a strong disturbance environment.
COMPUTERS & ELECTRICAL ENGINEERING
(2023)
Article
Engineering, Marine
Shun An, Longjin Wang, Yan He
Summary: This paper investigates the problem of fixed-time trajectory tracking control of underactuated autonomous underwater vehicles subject to external disturbances. The backstepping control technique and fixed-time control method are integrated to ensure the convergence of the vehicle's trajectory to a reference trajectory within a fixed time. A continuous fixed-time disturbance observer is developed to estimate the unknown external disturbances, and a nonlinear first-order filter is applied to avoid the adverse effects of complexity inherent in conventional backstepping. Theoretical analyses show that the proposed fixed-time backstepping controller can drive the tracking errors of the vehicle to a residual set in fixed time. Simulation results demonstrate the effectiveness and superiority of the proposed control method.
Article
Engineering, Marine
Gaofeng Che
Summary: This work investigates the fault-tolerant control problem for underactuated autonomous underwater vehicle (AUV) and proposes a novel fault-tolerant control scheme combined with the backstepping method using a single critic network based adaptive dynamic programming (ADP). The effectiveness of the proposed method is verified through simulation results.
Article
Computer Science, Information Systems
Lanping Zou, Haitao Liu, Xuehong Tian
Summary: This article presents a robust control strategy for trajectory tracking of an underactuated surface vehicle (USV) based on the backstepping method, super-twisting state observer, and neural networks. The feasibility and effectiveness of the proposed method are verified through simulation results.
Article
Engineering, Marine
Przemyslaw Herman
Summary: This paper addresses the trajectory tracking control issue for underactuated underwater vehicles with quasi-velocities resulting from the decomposition of the inertia matrix. The control algorithm considers unmodeled dynamics and external disturbances. It is shown that such mathematical models can be described by inertial quasi-velocities (IQV) after diagonalization. The proposed control scheme consists of a kinematic velocity controller and a dynamic adaptive integral sliding mode control algorithm. The paper extends the concept based on velocity transformation and backstepping methods to systems with a symmetric inertia matrix. The stability of a closed system in IQV space is proven. The proposed approach is verified on two 3 DOF models of underwater vehicles with thruster force limitations.
Article
Engineering, Marine
Yu Zhang, Guoqing Xia, Wei Zhang, Kaihang Zhang, Haoyu Yang
Summary: This paper presents a decentralized control mechanism for the homing process of underactuated AUVs. The mechanism transforms the homing problem into social foraging, and utilizes artificial potential field and time scale decomposition methods to generate collision-free trajectories and achieve trajectory tracking. The stability of the collective behavior of the swarm and the trajectory tracking controller are proven through Lyapunov theorem.
Article
Computer Science, Information Systems
Zhiwei Wu, Haosong Peng, Biao Hu, Xiaodong Feng
Summary: This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers, and demonstrates the effectiveness and robustness of the proposed control algorithm through numerical simulations.
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
Computer Science, Information Systems
Yongsheng Zhao, Xiaojie Sun, Guofeng Wang, Yunsheng Fan
Summary: This paper proposes an adaptive backstepping sliding mode tracking control method for underactuated unmanned surface vehicles, which combines backstepping and adaptive sliding mode control technology. By using a virtual control law to replace the position error control strategy and introducing adaptive technology based on backstepping sliding mode theory, the control system's robustness is enhanced in unknown environments. Simulation results demonstrate the effectiveness of the proposed method in achieving stable tracking under system parameter uncertainty and time-varying disturbances.
Article
Engineering, Marine
Tianqi Xie, Ye Li, Yanqing Jiang, Shuo Pang, Haowei Wu
Summary: This paper proposes a TCBTPM trajectory planning method for AUV mobile docking missions, which predicts relative positions and generates trajectories to guide the AUV docking. Additionally, a mobile docking guidance system is introduced to provide necessary navigation instructions.
Article
Computer Science, Information Systems
Zian Yu, Wangqiang Niu
Summary: A control method combining trajectory planning and backstepping is proposed for solving the antisway problem of underactuated overhead cranes under wind disturbance. The method includes proposing flat outputs to represent the crane system dynamics, providing relevant constraints for the trolley's desired position and swing angle suppression, obtaining planned trajectory through optimal parameters of the flat output, and designing a tracking controller to reduce deviation caused by wind disturbance. Simulation results demonstrate the effectiveness and robustness of the proposed method.
Article
Engineering, Aerospace
Jian Shen, Qingyu Zhu, Xiaoguang Wang, Pengyun Chen
Summary: This paper presents a study on fault estimation and dynamic analysis in a leader-follower unmanned aerial vehicle (UAV) formation system with external disturbances, using an intermediate observer design method to estimate system states and faults simultaneously. The topology relationship and typical faults of the UAV formation are analyzed, with fault models and fault-tolerant strategies proposed. Results show the credibility and applicability of the fault estimation and control strategies proposed in the paper.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2021)
Article
Automation & Control Systems
Pengyun Chen, Tong Guan, Guobing Zhang, Shangyao Shi, Jian Shen, Meini Yuan
Summary: This paper analyzes the nonholonomic characteristics, constraint non-integrability, and controllability of fixed-wing unmanned aerial vehicles (UAVs). By using quaternion theory, the dynamics of the UAV is transformed to simplify the trigonometric function term and overcome the singularity problem. A continuous periodic time-varying controller is designed and its effectiveness is proven through hardware in a loop simulation. The results demonstrate that the feedback controller provides exponential stability and achieves three-dimensional stabilization of the UAV from any initial position.
Article
Engineering, Aerospace
Wenyao Li, Guangqing Liu, Kuan Lu, Pengyun Chen, Junjie Cui, Mingrang Yu, Peng Shen
Summary: This study proposes a real-time matching method for UAV aerial images in low illumination environments. By applying a new image enhancement algorithm and an improved ORB algorithm, the accuracy and visibility of image matching are improved, providing a fast and effective method for UAV image matching in different low illumination environments.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Automation & Control Systems
Cong Wei, Herbert G. Tanner
Summary: This article presents a method for synchronizing a network of spatially distributed nonlinear oscillators that can only interact intermittently and at close range. It addresses the problem of coordinating semipassive sensors that drift along geophysical flows and need to periodically establish rendezvous for information exchange. The proposed method incorporates the ambient geophysical dynamics into control design and achieves synchronization under certain conditions on network connectivity.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Energy & Fuels
Shangyao Shi, Zhiqiang Zeng, Chenbo Zhao, Luji Guo, Pengyun Chen
Summary: In this study, an extended state filter was integrated into an active disturbance rejection control (ADRC) system to address time delay and noise problems. The proposed approach includes active filtering and active advance prediction functions, in addition to the existing functions of active anti-disturbance and active tracking estimation, which results in improved control accuracy and increased stability of closed-loop control systems.
Article
Engineering, Aerospace
Jian Shen, Benkang Zhang, Qingyu Zhu, Pengyun Chen
Summary: This paper investigates an intelligent deep Q-network (DQN) based control algorithm for the smart ammunition formation (SAF) collaborative control in a high dynamic and uncertain flight environment. The algorithm is developed with a dynamic model and reinforcement learning technique, showing novel performance in the SAF control.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Computer Science, Artificial Intelligence
Cong Wei, Chuchu Chen, Herbert G. Tanner
Summary: This paper presents a navigation function methodology for sphere-worlds with moving obstacles and robot destinations, demonstrating that collision avoidance and convergence guarantees can be preserved even without knowledge of how the environment evolves. By assuming bounds on speeds and using the navigation function gradient, robot feedback laws are derived to ensure obstacle avoidance and theoretical guarantees of bounded tracking errors and asymptotic convergence to the target when it eventually stops moving. The efficacy of the gradient-based feedback controller is shown through numerical simulations as well as experiments.
Article
Remote Sensing
Pengyun Chen, Guobing Zhang, Jiacheng Li, Ze Chang, Qichen Yan
Summary: To address the issues of low following accuracy and weak anti-disturbance ability in 3D path-following control for small fixed-wing UAVs, a Globally Stable Integral Sliding Mode Radial Basis Function S-Plane (GSISM+RBF S-Plane) controller is designed. The controller adopts an inner and outer loop mode, with the outer loop using Globally Stable Integral Sliding Mode (GSISM) control and the inner loop using S-Plane control. An RBF neural network is used to estimate unknown disturbances in the model. Through simulation and comparative experiments, it is demonstrated that the GSISM+RBF S-Plane controller achieves accurate path tracking and exhibits good control and anti-disturbance performance compared to other controllers.
Article
Computer Science, Information Systems
Shangyao Shi, Luji Guo, Zhe Chang, Chenbo Zhao, Pengyun Chen
Summary: The study aims to design an active disturbance rejection control (ADRC) with parameter identification for current control in permanent magnet synchronous motor (PMSM) servo systems. A parameter identification method based on the consensus Kalman filter was designed to address the nonlinear uncertainty of the PMSMs and reduce the uncertainty of the current loop model. The improved ADRC algorithm was utilized to eliminate the influence of uncertainty, nonlinearity, and strong coupling of the current loop, resulting in improved current control precision.
Article
Computer Science, Information Systems
Pengyun Chen, Guobing Zhang, Tong Guan, Meini Yuan, Jian Shen
Summary: This paper introduces the S-plane control from the field of underwater UAV into the attitude control of fixed wing UAV, and proposes a neural network S-plane control model that can realize on-line adaptive adjustment of parameter coefficients. The simulation results show that the proposed model has fast response speed, strong anti-interference ability, and robustness, with the function of adaptive adjustment, demonstrating good control performance.
Proceedings Paper
Automation & Control Systems
Cong Wei, Herbert G. Tanner, M. Ani Hsieh
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2020)
Article
Robotics
Xi Yu, M. Ani Hsieh, Cong Wei, Hebert G. Tanner
FRONTIERS IN ROBOTICS AND AI
(2019)
Article
Engineering, Marine
Pengyun Chen, Pengfei Zhang, Jianlong Chang, Peng Shen
JOURNAL OF MARINE SCIENCE AND APPLICATION
(2019)
Article
Computer Science, Information Systems
Xingcheng Zhao, Meini Yuan, Pengyun Cheng, Le Xin, Leibin Yao
Article
Engineering, Ocean
Pengyun Chen, Peng Shen, Pengfei Zhang, Ye Li, Teng Ma, Yujie Han
MARINE TECHNOLOGY SOCIETY JOURNAL
(2019)
Article
Engineering, Marine
Alba Ricondo, Laura Cagigal, Beatriz Perez-Diaz, Fernando J. Mendez
Summary: This research presents a site-specific metamodel based on the SWASH numerical model simulations, which can predict coastal hydrodynamic variables in a fast and efficient manner. The metamodel uses downscaled and dimensionality reduced synthetic database to accurately reproduce wave setup, wave heights associated with different frequency bands, and wave runup. This method has great potential in coastal risk assessments, early warning systems, and climate change projections.
Article
Engineering, Marine
Xiao Yu, Wangjun Ren, Bukui Zhou, Li Chen, Xiangyun Xu, Genmao Ren
Summary: This study investigated and compared the compression responses and energy absorption capacities of coral sand and silica sand at a strain rate of approximately 1000 s-1. The results showed that coral sand had significantly higher energy absorption capacity than silica sand due to its higher compressibility. The study findings suggest that using poorly graded coral sand can improve its energy absorption capacity.
Article
Engineering, Marine
Jingxi Zhang, Junmin Mou, Linying Chen, Pengfei Chen, Mengxia Li
Summary: This paper proposes a cooperative control scheme for ship formation tracking based on Model Predictive Control. A predictive observer is designed to estimate the current motion states of the leader ship using delayed motion information. Comparative simulations demonstrate the effectiveness and robustness of the proposed controller.
Article
Engineering, Marine
Yu Yao, Danni Zhong, Qijia Shi, Ji Wu, Jiangxia Li
Summary: This study proposes a 2DH numerical model based on Boussinesq equations to investigate the impact of dredging reef-flat sand on wave characteristics and wave-driven current. The model is verified through wave flume experiments and wave basin experiments, and the influences of incident wave conditions and pit morphological features on wave characteristics are examined.
Article
Engineering, Marine
Jayanta Shounda, Krishnendu Barman, Koustuv Debnath
Summary: This study investigates the double-average turbulence characteristics of combined wave-current flow over a rough bed with different spacing arrangements. The results show that a spacing ratio of p/r=4 offers the highest resistance to the flow, and the double-average Reynolds stress decreases throughout the flow depth. The advection of momentum-flux of normal stress shows an increase at the outer layer and a decrease near the bed region after wave imposition. Maximum turbulence kinetic energy production and diffusion occur at different layers. The turbulence structure is strongly anisotropic at the bottom region and near the outer layer, with a decrease in anisotropy observed with an increase in roughness spacing.
Article
Engineering, Marine
Meng Zhang, Lianghui Sun, Yaoguo Xie
Summary: The research proposes a method for online identification of wave bending and torsional moment in hull structures. For structures without large openings, the method optimizes sensor positions and establishes a mathematical model to improve accuracy. For structures with large openings, a joint dual-section monitoring method is proposed to simultaneously identify bending and torsional moments in multiple key cross sections.
Article
Engineering, Marine
Longming Chen, Shutao Li, Yeqing Chen, Dong Guo, Wanli Wei, Qiushi Yan
Summary: This study investigated the dynamic response characteristics and damage modes of pile wharves subjected to underwater explosions. The results showed that the main damaged components of the pile wharf were the piles, and inclined piles had a higher probability of moderate or more significant damage compared to vertical piles. The study also suggested that replacing inclined piles with alternative optimized structures benefits the blast resistance of pile wharves.
Article
Engineering, Marine
I. -C Kim, G. Ducrozet, V. Leroy, F. Bonnefoy, Y. Perignon, S. Bourguignon
Summary: Previous research focused on the accuracy and efficiency of short-term wave fields in specific prediction zones, while we developed algorithms for continuous wave prediction based on the practical prediction zone and discussed important time factors and strategies to reduce computational costs.
Article
Engineering, Marine
Hang Xie, Xianglin Dai, Fang Liu, Xinyu Liu
Summary: This study investigates the load characteristics of a three-dimensional stern model with pitch angle through a drop test, and reveals complex characteristics of pressure distribution near the stern shaft. The study also shows that the vibration characteristics of the load are influenced by the drop height and pitch angle, with the drop height having a greater effect on the high-frequency components.
Article
Engineering, Marine
Hangyuan Zhang, Wanli Yang, Dewen Liu, Xiaokun Geng, Wangyu Dai, Yuzhi Zhang
Summary: The deep-water bridge is more vulnerable to earthquake damage than the bridge standing in air. The larger blocking ratio has a significant impact on the added mass coefficient, which requires further comprehensive study. The generation mechanism of block effect is analyzed using numerical simulation software ANSYS Fluent. The results show that the recirculation zone with focus reduces the pressure on the back surface of the cylinder, resulting in the peak value of in-line force not occurring synchronously with the peak value of acceleration. The change in position and intensity of the recirculation zone with focus, as well as the change in water flow around the cylinder surface, are identified as the generation mechanism of the block effect, which has a 10% influence on the hydrodynamic force. The changing rule of the added mass coefficient with blocking ratio is discussed in detail, and a modification approach to the current added mass coefficient calculation method is suggested. Physical experiments are conducted to validate the modification approach, and the results show that it is accurate and can be used in further study and real practice.
Article
Engineering, Marine
Golnesa Karimi-Zindashti, Ozgur Kurc
Summary: This study examines the performance of an in-house code utilizing a deterministic vortex method on the rotation of circular and square cylinders. The results show that rotational motion reduces drag forces, suppresses fluctuating forces, and increases lift forces. The code accurately predicts vortex shedding suppression and identifies the emergence of near-field wakes in the flow over rotating square cylinders.
Article
Engineering, Marine
George Dafermos, George Zaraphonitis
Summary: The survivability of damaged ships is of great importance and the regulatory framework is constantly updated. The introduction of the probabilistic damage stability framework has rationalized the assessment procedure. Flooding simulation tools can be used to investigate the dynamic response of damaged ships.
Article
Engineering, Marine
Xuyue Chen, Xu Du, Chengkai Weng, Jin Yang, Deli Gao, Dongyu Su, Gan Wang
Summary: This paper proposes a real-time drilling parameters optimization method for offshore large-scale cluster extended reach drilling based on intelligent optimization algorithm and machine learning. By establishing a ROP model with long short-term memory neurons, and combining genetic algorithm, differential evolution algorithm, and particle swarm algorithm, the method achieves real-time optimization of drilling parameters and significantly improves the ROP.
Article
Engineering, Marine
Sung-Jae Kim, Chungkuk Jin, MooHyun Kim
Summary: This study investigates the dynamic behavior of a moored submerged floating tunnel (SFT) under tsunami-like waves through numerical simulations and sensitivity tests. The results show that design parameters significantly affect the dynamics of the SFT system and mooring tensions, with shorter-duration and higher-elevation tsunamis having a greater impact.
Article
Engineering, Marine
G. Clarindo, C. Guedes Soares
Summary: Environmental contours are constructed using the Inverse-First Order Reliability Method based on return periods. The paper proposes the use of the Burr distribution to model the marginal distribution of long-term significant wave heights. The newly implemented scheme results in different environmental contours compared to the reference approach.
