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Article
Automation & Control Systems
Ali Azarbahram et al.
Summary: The article proposes a robust adaptive framework for platoon of uncertain USVs subject to stochastic environmental loads by decomposing disturbances into deterministic and stochastic components. Through the use of stochastic differential equations, the proposed approach provides a more challenging and practical solution to the problem.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2022)
Article
Engineering, Marine
Zheping Yan et al.
Summary: This paper studies the trajectory tracking control methods for multi-AUV formation in the case of weak communication environment under discrete-time collection. It proposes a coordinated trajectory tracking controller based on leader-followers and virtual leader methods, and discusses the switching topology communication structure caused by packet losses.
Article
Engineering, Marine
R. Sandeepkumar et al.
Summary: This paper studies a nonlinear model predictive controller for path following of a surface vessel in the presence of regular waves. The controller takes into account various forces and moments affecting the ship's motion and achieves path following through rudder control. The performance of the controller is compared with a basic PID controller.
Article
Engineering, Marine
Xiangli Jiang et al.
Summary: This paper investigates the formation regulation for a network of unmanned surface vehicles using the sliding mode control approach, constructing formation performance regulation on a sliding surface, stability analysis through orthogonal transformation, and designing a distributed sliding mode controller for finite-time reachability of the sliding surface.
Review
Environmental Sciences
Ruth G. Patterson et al.
Summary: Accessing the world's oceans is crucial for monitoring and managing the maritime domain, but difficulties in reaching remote areas have led to limited coverage. Uncrewed Surface Vessels (USVs) have the potential to overcome these challenges, but they are not yet widely used. By analyzing literature, we found low cost to be a central driver for USV adoption, while compatibility and complexity of the products are major limitations.
FRONTIERS IN MARINE SCIENCE
(2022)
Article
Engineering, Ocean
Evan Krell et al.
Summary: Path planning for Autonomous Surface Vehicles in complex shorelines and spatio-temporal environmental forces is a challenging task. Deterministic algorithms provide optimal solutions but are computationally expensive. Metaheuristic algorithms sacrifice optimality for reduced computation but can converge to local optima. This paper proposes using Visibility Graphs (VGs) to initialize the population of a Particle Swarm Optimization (PSO) algorithm, significantly improving its reliability and competitiveness with deterministic algorithms. The concept of opportunistic reward-based planning is also introduced, with VGs used to enhance both reward and efficiency in PSO. The combination of VGs and PSO efficiently plans routes for complex marine path planning problems.
APPLIED OCEAN RESEARCH
(2022)
Article
Automation & Control Systems
Andreas B. Martinsen et al.
Summary: We propose a reinforcement learning-based model predictive control method for trajectory tracking of surface vessels. The method utilizes an MPC controller to perform real-time trajectory tracking and control allocation, while simultaneously optimizing closed loop performance through reinforcement learning and system identification. Simulation and sea trial results on two different vessels demonstrate that the proposed method outperforms state-of-the-art methods in terms of tracking performance and energy efficiency.
CONTROL ENGINEERING PRACTICE
(2022)
Article
Energy & Fuels
Artur Makar
Summary: Bathymetric surveys using small, unmanned vessels are becoming more popular in coastal areas and regions that are difficult to access. This study determines the minimum safe distance of the planned survey line to the quay in terms of the unmanned survey vessel's dimensions under good sounding conditions.
Article
Engineering, Marine
Jonathan Rodriguez et al.
Summary: Proper control of maximum convergence time is crucial for Unmanned Surface Vehicles (USV) in autonomous trajectory tracking navigation and obstacle avoidance scenarios. This study proposes an adaptive sliding mode controller that can control the convergence time of an autonomous vessel prototype subject to bounded perturbations. The experiments demonstrate the effectiveness of the proposed controller in constraining the sliding variable within desired dynamics and achieving convergence within the desired settling time.
Article
Engineering, Marine
Somaiyeh MahmoudZadeh et al.
Summary: This paper presents an uninterrupted collision-free path planning system for multiple USVs in ocean sampling missions. The proposed system integrates a B-Spline data frame and a PSO-based solver engine to provide smart sampling and optimal, smooth path curves.
Article
Engineering, Civil
Joel Lindsay et al.
Summary: This article discusses a multirobot system that collaboratively obtains above-water, surface, and below-water information on a floating target. The system utilizes an unmanned aerial vehicle, unmanned underwater vehicle, and unmanned surface vehicle to autonomously survey and gain situational awareness on the target from a safe distance. The system's contributions include cross-domain robotic collaboration, autonomous mission-planning, and data fusion from heterogeneous robots.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2022)
Article
Engineering, Electrical & Electronic
Seungdae Baek et al.
Summary: This paper proposes a systematic approach for autonomous berthing of unmanned surface vehicles (USVs). It uses a state-machine approach to handle state transitions in the berthing step, and adopts a model reference adaptive controller to cope with the uncertainty of USV dynamics. Simulation using the Gazebo-based simulator validates the proposed method and compares its performance with a conventional controller, demonstrating that the proposed method enables accurate and stable docking.
Article
Engineering, Marine
Zongxuan Li et al.
Summary: A MPC method with LESO is proposed to tackle the path following issues for under-actuated surface ships without velocity measurements, addressing input constraints, uncertain parameters, and external disturbances. LOS guidance algorithm and variable acceptable radius approach are used for path following and heading control, while Norrbin model and LESO are employed for handling heading control and input constraints to enhance controller robustness and accuracy.
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
(2021)
Article
Engineering, Ocean
Chun-cheng Meng et al.
Summary: The study proposes a robust distributed leaderless formation control strategy by coupling synchronous control, terminal sliding-mode control, and adaptive control to enhance robustness against uncertainties and eliminate chattering. The adaptive control law neglects prior knowledge about upper bounds of uncertainties and disturbances, showing effectiveness in comparative simulation results.
APPLIED OCEAN RESEARCH
(2021)
Article
Engineering, Ocean
Cheng Liu et al.
Summary: This paper investigates the formation control of marine vehicles under switching topology in complex marine environment, proposing a novel distributed guidance system based on leader-follower strategy. Model predictive control is used to design the marine formation controller to address the input saturation problem, with the predictive mechanism preventing constraint violation in advance. Multiple simulations are conducted to demonstrate the effectiveness of the distributed guidance-based MPC formation controllers.
APPLIED OCEAN RESEARCH
(2021)
Article
Engineering, Marine
Bo Su et al.
Summary: This paper proposes a formation control method based on adaptive fixed time integral sliding mode disturbance observer and dynamic event-triggered mechanism to address the issues of current disturbance, control input saturation, and limited network resources in multi-AUV formation systems. The proposed method ensures convergence in fixed time and reduces controller network transmission consumption. The effectiveness of the algorithm is demonstrated through multi-AUV formation simulation experiments.
Article
Engineering, Marine
Isah Abdulrasheed Jimoh et al.
Summary: This paper proposes a disturbance observer enhanced model predictive controller (MPC) to mitigate the impact of wave-induced disturbances on ship roll motion. By incorporating a velocity model and designing a control input to counteract the rate of environmental disturbances, the proposed scheme effectively reduces undesired ship roll motion induced by sea waves.
Article
Automation & Control Systems
Haojiao Liang et al.
Summary: The article investigates trajectory tracking control for underactuated marine vehicles using nonlinear model predictive control (NMPC) with practical constraints. A novel NMPC algorithm is proposed, incorporating an auxiliary time-varying tracking controller and systematic parameter design. Simulation and hardware experiments confirm the effectiveness of the designed algorithm.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Civil
Xiaojie Sun et al.
Summary: This study focuses on the formation autonomous navigation system (FANS) for unmanned surface vehicles (USVs), utilizing a leader-follower structure and distributed control strategy to provide autonomy within the system; the dynamic domain tunable fast marching square algorithm is used in the path planning subsystem, while the navigation control subsystem is based on finite control set model predictive control to quickly and safely guide and control the formation.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Engineering, Ocean
Hongbin Wang et al.
Summary: An event-triggered formation strategy based on fixed-time RBF neural network adaptive disturbance observer is proposed to address the issues of model parameter uncertainty, unknown current disturbance, and actuator input saturation in multi-AUVs formation control. By introducing the event trigger mechanism and designing a fixed-time distributed formation controller, the system achieves fixed-time stability independent of initial state, while saving energy consumption of network transmission resources. The effectiveness and rationality of the proposed algorithm are demonstrated through multi-AUVs formation simulation experiments.
APPLIED OCEAN RESEARCH
(2021)
Article
Automation & Control Systems
Shihan Kong et al.
Summary: This article proposes a controller based on ESO for trajectory tracking of underwater vehicles, addressing challenges such as underactuation, velocity constraint, and disturbances. The use of a model predictive governor and ESO improves accuracy and stability in tracking, laying a foundation for underactuated trajectory tracking control in complex underwater environments.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2021)
Article
Automation & Control Systems
Jian Li et al.
Summary: This article introduces a novel distributed prescribed performance control method for multipl3D time-varying formations of AUVs, allowing for flexible presetting of formation errors within a prescribed tolerance time and error mapping transformation. It effectively deals with uncertain dynamics and unknown disturbances by converting them into a linear parametric form.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Engineering, Marine
Bing Huang et al.
Summary: This paper investigates finite-time distributed formation control for unmanned surface vessels (USVs) facing external disturbances, model uncertainties, and input saturation constraints. By combining sliding mode control and adaptive algorithms, two control architectures are developed to address the formation control problem of USVs. Utilizing Radial Basis Function Neural Networks (RBFNNs) and an adaptive mechanism, the study demonstrates achievable finite-time convergence under the proposed controllers.
Article
Automation & Control Systems
Yongding Zhang et al.
Summary: The article introduces a novel underwater geomagnetic navigation method that utilizes only the declination and inclination components of the geomagnetic field for navigation without prior knowledge. A model predictive control algorithm is proposed for control and optimization of navigation trajectory. Simulation results validate the feasibility and accuracy of the proposed algorithm.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Article
Automation & Control Systems
Henglai Wei et al.
Summary: This article studies the formation tracking problem of a team of autonomous underwater vehicles (AUVs) with ocean current disturbances, proposing a distributed Lyapunov-based model predictive controller to address this issue. It utilizes extended state observer-based auxiliary control laws and online optimization to enhance the formation tracking performance of the multi-AUV system, ensuring closed-loop stability with stability constraints and artificial potential fields for inter-AUV collision avoidance. Extensive simulations demonstrate the superior control performance and robustness of the proposed method on Saab Falcon AUVs.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Proceedings Paper
Automation & Control Systems
Victor C. Codesseira et al.
Summary: The study aims to implement an MPC controller for path following, achieving robust and efficient control in a simulator. The controller is capable of adapting to different vessels and environmental conditions, enhancing the control performance of ships.
Article
Computer Science, Artificial Intelligence
Cheng Liu et al.
NEURAL COMPUTING & APPLICATIONS
(2020)
Article
Computer Science, Artificial Intelligence
Xuliang Yao et al.
NEURAL COMPUTING & APPLICATIONS
(2020)
Article
Automation & Control Systems
Chao Shen et al.
Article
Automation & Control Systems
Jinqiang Wang et al.
Article
Computer Science, Information Systems
Jinqiang Wang et al.
IEEE SYSTEMS JOURNAL
(2020)
Article
Engineering, Civil
Zhi-Hua Zeng et al.
INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
(2020)
Article
Engineering, Marine
Cheng Liu et al.
Article
Engineering, Electrical & Electronic
Yixiao Liang et al.
IET INTELLIGENT TRANSPORT SYSTEMS
(2020)
Article
Engineering, Marine
Yan-Li Chen et al.
Article
Engineering, Marine
Hualin Yang et al.
Article
Engineering, Marine
Jian Li et al.
Article
Automation & Control Systems
Chao Shen et al.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2018)
