Article
Automation & Control Systems
Hongde Qin, Jinshuai Si, Ning Wang, Liyang Gao, Kangjian Shao
Summary: This paper presents a novel disturbance estimator-based fast fuzzy terminal sliding-mode formation control method. The leader-follower formation control method is combined with path planning strategy based on artificial potential field to ensure collision-free and consensus movement for each AUV. An improved sliding-mode surface is incorporated into the controller for faster convergence rate away from the stable equilibrium. Fuzzy control rules derived from the Lyapunov energy function are designed to eliminate the chattering problem in the controller. A disturbance estimator is proposed to compensate for unknown dynamics and disturbances, enhancing the system's robustness and stability. Simulation and comparison results are provided to demonstrate the effectiveness of the proposed method.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2023)
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
Automation & Control Systems
Jian Xu, Yunfei Cui, Zheping Yan, Fei Huang, Xue Du, Di Wu
Summary: This paper investigates the target tracking control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of actuator faults and external disturbances based on event-triggered mechanism. The five degrees-of-freedom kinematic and dynamic models are constructed using the backstepping method as the major control framework. Radial basis function neural network (RBFNN) and adaptive control method are utilized to estimate and compensate for uncertain information and actuator faults. The effectiveness and reasonableness of the designed tracking controllers are illustrated through comparative simulations.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Automation & Control Systems
Xian Yang, Jing Yan, Changchun Hua, Xinping Guan
Summary: The study presented a finite-time controller developed using the nonsingular fast terminal sliding mode control technique to address the issues of uncertainty in Euler angles and external disturbances in AUV trajectory tracking control. A robust differentiator was proposed to estimate external disturbances and uncertainties, and simulation results demonstrated the effectiveness of the proposed control laws.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Mehran Rahmani, Mohammad Habibur Rahman
Summary: This paper proposes a new hybrid robust control method for an autonomous underwater vehicle, which combines fractional sliding mode control (FSMC) with a new control algorithm to maintain robustness of FSMC while eliminating chattering phenomenon. The effectiveness of the proposed control method is verified through numerical simulation, showing the best performance compared to FSMC.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Engineering, Marine
Lin Yu, Qinghao Meng, Hongwei Zhang
Summary: This study designed a multi-joint autonomous underwater vehicle for rapid and flexible vertical exploration of deep-sea structures, focusing on 3D modeling and attitude control. An LQR control method was used to solve the coupling and disturbance issues of the MJ-AUV, with simulation results showing the achievement of design objectives in the control system.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
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
Jianchuan Yin, Ning Wang
Summary: This study proposes a predictive control approach based on a variable-fuzzy predictor to solve the dynamic trajectory tracking problem of an AUV in a three-dimensional underwater environment. By employing a sliding data window and Delaunay triangulation partition method, precise estimation of the AUV's motion can be achieved. The method combines the constraints-tolerance of predictive control, the uncertainty immunity of fuzzy logic calculation, and the adaptability of variable fuzzy model.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2021)
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, Electrical & Electronic
I-Chen Sang, William R. Norris
Summary: Underwater pipeline inspection is important but using ROVs is costly and fixed leak detection sensors have limited precision. AUVs can significantly reduce costs but face challenges such as unstable currents, low visibility, and loss of GPS signal. This article presents a navigation system for an AUV that incorporates vision and sonar sensors to find and navigate toward the pipeline and inspect it with a resolution of 3m.
IEEE SENSORS JOURNAL
(2023)
Article
Engineering, Marine
Pham Nguyen Nhut Thanh, Ngo An Thuyen, Ho Pham Huy Anh
Summary: This paper investigates the adaptive fuzzy trajectory tracking control of under-actuated AUVs in the presence of state constraints, input saturations, and time-varying ocean currents. The control problem is divided into kinematic and dynamic control using a double-loop control scheme. The proposed method includes an observed-based guidance law, kinematic control law, and adaptive fuzzy dynamic surface controllers to address the system constraints and unknown ocean currents. The stability analysis and extensive numerical simulations demonstrate the effectiveness, feasibility, and robustness of the proposed method.
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, Marine
Yingjie Deng, Shitong Zhang, Jing Yan, Namkyun Im, Weina Zhou
Summary: An adaptive asymptotic tracking control approach is proposed for autonomous underwater vehicles (AUVs) using Bernstein polynomial approximation. The approach integrates the adaptive backstepping technique, sigma-modification, and minimum learning parameter (MLP) technique to ensure high-precision tracking performance with asymptotic convergent tracking errors and less computation burden.
Article
Automation & Control Systems
Niankai Yang, Dongsik Chang, Matthew Johnson-Roberson, Jing Sun
Summary: In this article, an economic model predictive control (EMPC) based controller is proposed to reduce the control energy of autonomous underwater vehicles (AUVs) during waypoint tracking. The controller optimizes stage costs and approximates the energy-to-go, taking into account vehicle dynamics. Simulation results show that the proposed approach achieves near-optimal performance compared to other methods.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Mathematics, Interdisciplinary Applications
Tao Liu, Yuli Hu, Hui Xu
Summary: This paper proposes a controller based on deep reinforcement learning for studying the control performance of vectored thruster AUV, and confirms its effectiveness through simulations in a designed environment, providing an optional method for dealing with robot control problems.
Article
Automation & Control Systems
Sumit Aole, Irraivan Elamvazuthi, Laxman Waghmare, Balasaheb Patre, Fabrice Meriaudeau
Summary: Non-linear active disturbance rejection control is applied for sinusoidal trajectory tracking in upper limb rehabilitation exoskeleton, showing robustness against disturbances and better tracking performance compared to PID and conventional active disturbance rejection control methods.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2021)
Article
Multidisciplinary Sciences
Swati Mishra, Santhakumar Mohan, Santosh Kumar Vishvakarma
Summary: This article presents an improved backstepping control technique for operational-space position tracking of a kinematically redundant mobile manipulator; the recommended motion controller provides protection against system dynamic variations and external disturbances; the feasibility and effectiveness of the recommended controller are demonstrated through numerical simulations and real-time experiments.
DEFENCE SCIENCE JOURNAL
(2021)
Article
Automation & Control Systems
Ravi Prakash, Laxmidhar Behera, Santhakumar Mohan, Sarangapani Jagannathan
Summary: This article aims to develop coordinated optimal planning and control strategies for real-world robotic applications. A dual-loop optimal hierarchical control scheme is proposed to achieve smooth trajectory generation and cost optimization of the control input in the outer and inner loops. The stability and performance of the proposed scheme are demonstrated theoretically and experimentally.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Satyanarayan Sadala, Balasaheb Patre, Divyesh Ginoya
Summary: This paper introduces a new continuous integral sliding mode control algorithm to reduce chattering and improve the stability and robustness of the control system.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2022)
Article
Chemistry, Multidisciplinary
Sumit Aole, Irraivan Elamvazuthi, Laxman Waghmare, Balasaheb Patre, Tushar Bhaskarwar, Fabrice Meriaudeau, Steven Su
Summary: In this paper, a combined control strategy with extended state observer (ESO) and finite time stable tracking differentiator (FTSTD) is proposed to perform flexion and extension motion in the sagittal plane for shoulder and elbow joints. The proposed controller improves tracking accuracy, performs state estimation, and actively rejects disturbance.
APPLIED SCIENCES-BASEL
(2022)
Article
Engineering, Mechanical
Isaac John, Santhakumar Mohan, Larisa Rybak
Summary: This paper focuses on the development of a Cartesian parallel manipulator (CPM) with multiple limb assembly configurations, identifying an optimal configuration and proposing a motion controller design and performance analysis.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Divyansh Khare, Sandra Cherussery, Santhakumar Mohan
Summary: This paper focuses on the mechanical design and control aspects of a new autonomous mobile agricultural robot developed for automated harvesting of fruits in plantations. It discusses the need for automated harvesting and the challenges involved, conceptualizes the design of the robot, and gives a brief overview of its control aspects.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Review
Engineering, Mechanical
Meenakshi Suresh Kumar, Santhakumar Mohan
Summary: The progressive application of multidisciplinary research and development in agriculture is driving the automation evolution in various subsectors. This paper provides a brief analysis of selective fruit harvesting techniques from 2017 to 2022, highlighting the importance of accurate information capture, challenges in fruit detection, and the need for improved fruit grasping and detachment for quality preservation and increased production rate.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Engineering, Mechanical
Rutupurna Choudhury, Pandurang Londhe, Santhakumar Mohan, Yogesh Singh
Summary: This paper presents a robust position tracking control method for a 3-degrees of freedom 2PRP-PPR parallel motion mechanism. The proposed method utilizes a fuzzy logic controller to handle the complex workspace trajectory tracking control problem with the presence of outside disturbances, variable uncertainties, and inner noises. Experimental results demonstrate the superiority of the suggested control algorithm.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Nuclear Science & Technology
S. S. Nerkar, B. M. Patre, Ranvir Desai, P. S. Londhe
Summary: This paper presents a control strategy based on an uncertainty and disturbance estimator for power distribution control in the advanced heavy-water reactor (AHWR). Through detailed simulation on a 72nd-order multi-input nonlinear model, it is shown that the designed controller performs better in counteracting disturbances compared to optimal integral sliding mode control (ISMC). The stability of the overall system is proven.
NUCLEAR ENGINEERING AND DESIGN
(2023)
Article
Computer Science, Artificial Intelligence
K. S. Arun Krishnan, Jagadeesh Kadiyam, Santhakumar Mohan
Summary: This paper presents a novel framework for a robust motion control scheme of an eight-thruster underwater vehicle. It combines both model-free and model-based approaches to counter unknown disturbances and improve tracking. Different sliding surfaces are used for control and trajectory tracking. The effectiveness of the proposed controller is evaluated and demonstrated through simulation.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2023)
Article
Engineering, Electrical & Electronic
Sandeep Kumar, Santhakumar Mohan, Valeria Skitova
Summary: This paper presents a detailed design of a skid-steering mobile platform with four wheels and a Cartesian serial (PPP) manipulator for various tasks in the agricultural process. The manipulator can handle heavy materials and was tested in a robotic harvesting scenario. Design, simulation, and analysis were conducted, along with structural analysis and calibration tests. Field testing demonstrated the successful mechanical movements and handling capabilities.
Proceedings Paper
Automation & Control Systems
H. R. Mane, R. J. Desai, B. M. Patre, T. U. Bhatt, S. R. Shimjith, A. P. Tiwari
Summary: This paper presents the design of an Inertial Delay Observer (IDO) for estimating neutron flux distribution and bounded reactivity input disturbances of a nuclear reactor, and verifies its efficacy through simulation studies.
2022 EIGHTH INDIAN CONTROL CONFERENCE, ICC
(2022)
Proceedings Paper
Engineering, Biomedical
Artem Voloshkin, Gregory Dubrovin, Anna Nozdracheva, Larisa Rybak, Santhakumar Mohan, Giuseppe Carbone
Summary: This paper presents a robotic system for lower limb rehabilitation in patients, consisting of an active robot and a passive orthosis. The design parameters for the system's workspace were optimized, taking into account the regulation of the passive orthosis joints. Simulation results are provided.
NEW TRENDS IN MEDICAL AND SERVICE ROBOTICS
(2022)
Article
Automation & Control Systems
S. S. Nerkar, P. S. Londhe, B. M. Patre
Summary: This paper presents a control scheme for trajectory tracking of AUVs using a super twisting algorithm as a disturbance observer based sliding mode controller (STA-SMC). The effectiveness of the proposed scheme is verified by comparing it with uncertainty and disturbance estimator (UDE) and disturbance observer (DO) based sliding mode control strategies. Extensive numerical simulations demonstrate the robustness of the proposed scheme, which is capable of compensating for uncertainties in the hydrodynamic parameters of the vehicle and rejecting unpredictable disturbances due to underwater ocean currents.
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL
(2022)
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.
