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Article
Automation & Control Systems
Cheng Zhu et al.
Summary: This article addresses the finite-time global trajectory tracking control problem of AUV in the presence of various constraints and issues. By using a rotation matrix to describe AUV orientation and introducing a dead zone model to solve actuator problems, along with utilizing the minimum learning parameter technology to handle dynamic nonlinearity, a sliding mode control scheme is proposed. The effectiveness of the proposed control scheme is evaluated through numerical experiments.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Yuanbo Su et al.
Summary: This paper addresses the trajectory tracking control problem of autonomous underwater vehicles with actuator faults and model uncertainties. A novel BLF-based funnel tracking control strategy and event-triggered adaptive fuzzy fault-tolerant control scheme are proposed to handle the uncertainties and reduce communication burden and excess wear. The effectiveness of the method is demonstrated through simulation examples.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2022)
Article
Engineering, Marine
Xin Hu et al.
Summary: This paper proposes an adaptive synchronization control scheme for under-actuated ships with unknown time-varying disturbances and thruster saturation effects. By constructing a disturbance filter and correcting the feedback control errors online, the proposed scheme achieves disturbance rejection and thruster saturation attenuation simultaneously.
Letter
Computer Science, Information Systems
Shude He et al.
SCIENCE CHINA-INFORMATION SCIENCES
(2022)
Article
Engineering, Ocean
Yupeng Zhang et al.
Summary: Submarine pipelines are a simple and efficient approach for transporting marine oil and gas resources. However, pipeline damage caused by natural or man-made causes can result in resource wastage and environmental pollution. This study proposes a tracking algorithm using forward-looking sonar to accurately track submarine pipelines. The algorithm combines the integrated navigation system and image processing techniques to achieve accurate and stable pipeline tracking.
APPLIED OCEAN RESEARCH
(2022)
Article
Engineering, Marine
Cheng Zhu et al.
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
Mathematics
Ke Chen et al.
Summary: The study proposes a distributed event-triggered communication mechanism for the control of multiple autonomous underwater vehicles (AUVs). This mechanism allows each AUV to communicate only when its own state is updated, reducing the communication frequency and improving stability. It also demonstrates better adaptability for formation control of heterogeneous AUV groups.
Article
Engineering, Electrical & Electronic
Cheng Zhu et al.
Summary: This paper presents a completely distributed affine formation maneuver control algorithm for networked marine surface vehicles (NMSVs). By using affine images to generate desired trajectories, NMSVs are able to achieve arbitrary preset configuration transformations, with only a small number of leaders having access to the configuration information. A synthetical constraint is designed to achieve position and attitude configuration rigidities simultaneously, allowing NMSVs to perform formation maneuvers with time-varying speeds and orientations. Compared to conventional fully distributed control schemes, the proposed algorithm is implemented solely within the local reference frame, relying on local relative poses and self velocities.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Bin Zhou et al.
Summary: This article investigates the distributed event-triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter-event times (MIET). The proposed control strategy includes a distributed event-triggered observer (DETO) and an adaptive local tracking controller, achieving maneuverability of the formation group and target formation tracking.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Engineering, Marine
Zheping Yan et al.
Summary: This paper addresses the communication pressure and information redundancy issues in the marine environment for a multi-AUV system. It proposes a distributed event-triggered formation control method using an asynchronous periodic sampling approach, achieving discrete leaderless multi-AUV formation control. The key to the event-triggered mechanism is accurately determining communication and controller update timing. The paper considers the position/velocity states under a two-layer independent communication topology and analyzes the system's convergence using row random matrix theory, obtaining conditions for stability. Simulation experiments demonstrate stable convergence without Zeno behavior under the event-triggered mechanism.
Article
Engineering, Marine
Shude He et al.
Summary: This paper proposes a distributed synchronization control algorithm based on an uncertainty and disturbance estimator to address the accuracy problem in the synchronization motion of marine surface vehicles. The algorithm effectively compensates for modeling uncertainties and external disturbances, achieving fast and accurate synchronization motion.
Article
Engineering, Marine
Guoqing Zhang et al.
Summary: This paper investigates an improved event-triggered robust adaptive control algorithm for marine surface vehicles with fault compensating mechanisms. The proposed algorithm ensures synchronous activation of the controller and state transmitter only at triggering instants, improving communication obstruction and stability.
Article
Mathematics, Interdisciplinary Applications
Lu Liu et al.
Summary: This paper proposes a multi-AUV dynamic maneuver countermeasure algorithm based on interval information game theory and fractional-order Differential Evolution (DE) to address the challenges posed by the instability of the underwater environment and underwater communication. By establishing advantage function, payoff matrix and Nash equilibrium condition, and utilizing the fractional-order DE algorithm to determine the optimal strategy, the superiority of the algorithm is verified through an example.
FRACTAL AND FRACTIONAL
(2022)
Article
Automation & Control Systems
Xiaohua Ge et al.
Summary: Efficient utilization of computation and communication resources has become critical in networked systems due to limited capabilities of system components and shared network bandwidth. Event-triggered mechanisms represent a major shift in resource-constrained applications, with dynamic event-triggered mechanisms emerging as a promising solution for more efficient and flexible design requirements. This paper reviews the latest developments in dynamic event-triggered control and estimation for networked systems, including the establishment of a unified framework, motivations of DETMs, elaboration of different DETM classes, and discussion of construction techniques and application examples.
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
(2021)
Article
Engineering, Marine
Yu Lu et al.
Summary: This study proposes a novel robust adaptive fault tolerant formation scheme for autonomous surface vehicles (ASVs) to achieve performance-guaranteed formation tracking under uncertain environments. The research demonstrates that designed fault-tolerant controllers can achieve desired formation configurations, ensure prescribed formation tracking performance, and guarantee uniformly ultimately bounded error signals. Additionally, a trade-off is found between the fault-based and fault-unknown controllers.
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, Ocean
Chaodong Hu et al.
Summary: This paper proposes a control method based on sliding mode control and uncertainty and disturbance estimator for dynamic positioning vessels, which was validated through simulations and compared with traditional methods, showing superior performance.
APPLIED OCEAN RESEARCH
(2021)
Article
Automation & Control Systems
Bo Su et al.
Summary: This paper investigates an event-triggered integral sliding mode fixed-time control method for the trajectory tracking problem of an AUV with disturbance. The proposed method ensures global fixed-time stability and effectively eliminates singularity, as well as reduces damage caused by chattering phenomenon. Theoretical analysis and simulation results show that the presented methods can achieve the control objective with reduced resource consumption.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(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
Engineering, Electrical & Electronic
Juan Li et al.
Summary: The study focuses on solving the issues of leader failure and excessive communication pressure in multi-AUV leader-follower formations, by introducing the Hungarian algorithm and event-triggered mechanism to effectively reconfigure formations and reduce communication traffic.
Article
Automation & Control Systems
Yu Lu et al.
INTERNATIONAL JOURNAL OF CONTROL
(2020)
Article
Automation & Control Systems
Lei Qiao et al.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2020)
Article
Automation & Control Systems
A. M. Yazdani et al.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2020)
Article
Automation & Control Systems
Jonathan Rodriguez et al.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2020)
Article
Automation & Control Systems
Xiaohua Ge et al.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2020)
Article
Automation & Control Systems
Shude He et al.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2019)
Article
Engineering, Marine
Yingkai Xia et al.
Article
Automation & Control Systems
Jian Li et al.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2019)
Article
Automation & Control Systems
Xinlei Yi et al.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2019)
Article
Robotics
P. S. Londhe et al.
INTELLIGENT SERVICE ROBOTICS
(2019)
Article
Automation & Control Systems
Bing Huang et al.
Article
Engineering, Civil
Gianluca Antonelli
IEEE JOURNAL OF OCEANIC ENGINEERING
(2007)
Article
Automation & Control Systems
SP Bhat et al.
SYSTEMS & CONTROL LETTERS
(2000)