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Author : 黃敏豪
Publisher :
ISBN 13 :
Total Pages : 77 pages
Book Rating : 4.:/5 (114 download)
Download or read book Design of Nonlinear Robust Guidance Law for Autonomous Underwater Vehicles written by 黃敏豪 and published by . This book was released on 2019 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : 曾紹涵
Publisher :
ISBN 13 :
Total Pages : 108 pages
Book Rating : 4.:/5 (123 download)
Download or read book Nonlinear Adaptive Fuzzy Robust Guidance Law Design of Autonomous Marine Surface Vessels written by 曾紹涵 and published by . This book was released on 2020 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : David E. Lienard
Publisher :
ISBN 13 :
Total Pages : 128 pages
Book Rating : 4.:/5 (227 download)
Download or read book Autopilot Design for Autonomous Underwater Vehicles Based on Sliding Mode Control written by David E. Lienard and published by . This book was released on 1990 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: An autopilot is designed using Sliding Mode Control Theory that can control the speed and heading of a full six degree of freedom, nonlinear model that allows speed and heading to be treated as separate systems. Once control of heading and speed is established, depth control is achieved by a third control law. Although they are developed separately, the three individual control laws act simultaneously to provide robust control of speed, heading, and depth of the nonlinear model of the vehicle. Line of Sight Guidance is used to convert the way points provided by the mission planner into commands for heading to which the autopilot responds. The performance of the autopilot is evaluated over a wide range of speeds to demonstrate its robustness. In addition, the effects of current are simulated and the autopilot is modified to compensate for the presence of a strong current.
Author :
Publisher :
ISBN 13 :
Total Pages : 118 pages
Book Rating : 4.:/5 (129 download)
Download or read book Nonlinear Robust Adaptive Neural Network Control Design for Hybrid Autonomous Aerial Underwater Vehicles written by and published by . This book was released on 2021 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Sabiha Wadoo
Publisher : CRC Press
ISBN 13 : 1351833928
Total Pages : 208 pages
Book Rating : 4.3/5 (518 download)
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Author : Thor I. Fossen
Publisher : John Wiley & Sons
ISBN 13 : 1119575036
Total Pages : 96 pages
Book Rating : 4.1/5 (195 download)
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-04-16 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz
Author : Jing Yan
Publisher : Springer Nature
ISBN 13 : 9811660964
Total Pages : 222 pages
Book Rating : 4.8/5 (116 download)
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
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Author : 游翊聖
Publisher :
ISBN 13 :
Total Pages : 92 pages
Book Rating : 4.:/5 (123 download)
Download or read book Design of Adaptive Fuzzy Guidance Law for Autonomous Underwater Vehicles : Mixed H2/H[infinity] Approach written by 游翊聖 and published by . This book was released on 2020 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Junku Yuh
Publisher : Tsi Press
ISBN 13 :
Total Pages : 384 pages
Book Rating : 4.0/5 ( download)
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
Author : Yang Shi
Publisher : Springer Nature
ISBN 13 : 3031193547
Total Pages : 210 pages
Book Rating : 4.0/5 (311 download)
Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Author : A. Santos
Publisher :
ISBN 13 :
Total Pages : 61 pages
Book Rating : 4.:/5 (897 download)
Download or read book Preserving Linear Design Capabilities in the Nonlinear Control of Nonholomonic Autonomous Underwater Vehicles written by A. Santos and published by . This book was released on 1995 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (136 download)
Download or read book Design of H2 and H-infinity Guidance Laws for Autonomous Underwater Vehicles written by and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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Author :
Publisher :
ISBN 13 :
Total Pages : 117 pages
Book Rating : 4.:/5 (129 download)
Download or read book Design of Adaptive Neural Network Mixed H2⁄H[infinity] Guidance Law for Autonomous Underwater Vehicles written by and published by . This book was released on 2021 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (455 download)
Download or read book Control Strategies Robust to Configurational Changes in Unmanned Underwater Vehicles written by and published by . This book was released on 1999 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research addresses reliability and robustness issues in the control of unmanned underwater vehicles (UUVs) with focus on vehicles of interest to the Navy. The central goal is to study and develop the means for a UUV to compensate for both disruptive configurational changes such as the failure of an actuator as well as more gentle changes such as variations in vehicle parameters that may result, for example, from addition/release of equipment on-board, from motion or action of a robotic manipulator or simply from parameter uncertainty. An important objective in support of the central goal is to use nonlinear methods to understand how to exploit nonlinear structure of UUV dynamics to advantage in control design. For example, it is often the case that one can show that a UUV is still controllable after an actuator failure. However, it is nonlinear methods that are required to verify this and it is nonlinearities in the UUV model that allow for the possibility of completing desired UUV motions after an actuator failure. Accordingly, it is nonlinear methods that should be used to develop algorithms that drive a UUV in the event of an actuator failure.
Author :
Publisher :
ISBN 13 :
Total Pages : 410 pages
Book Rating : 4.3/5 (243 download)
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1989 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 7 pages
Book Rating : 4.:/5 (227 download)
Download or read book Robust Control of a Platoon of Underwater Autonomous Vehicles written by and published by . This book was released on 2004 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Effective control systems for a variety of underwater autonomous vehicles have been developed and are in use. These systems generally assume the vehicle is operating independently of other nearby vehicles. However, there is recent and growing interest in the coordinated control of a platoon of vehicles acting cooperatively to achieve an objective that a single vehicle operating alone cannot achieve. This paper presents the design of a robust multivariable controller for decentralized leader-follower control of a platoon of autonomous underwater vehicles. A three degree-of-freedom model of the REMUS underwater vehicle is used as an example case for control in a plane. The design is based on Linear Quadratic Gaussian Regulator theory with Loop Transfer Recovery. A way point guidance system is used for lead vehicle navigation. Follower vehicles maintain specified range and bearing to adjacent vehicles. The resulting control system is used in a computer simulated search for randomly distributed mines. A three vehicle fleet is used to demonstrate superiority, in terms of area coverage and elapsed time, over a single vehicle search. Simulations are performed both with and without ocean current disturbances. A unique formation swap maneuver is introduced to make an efficient 180 degree turn in a mow-the-lawn type multi-vehicle search.
Author : Timothy Matthew Josserand
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (182 download)
Download or read book Optimally-robust Nonlinear Control of a Class of Robotic Underwater Vehicles written by Timothy Matthew Josserand and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
