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Author : Christopher John Van Kleeck
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (493 download)
Download or read book Formation Control for Autonomous Marine Vehicles written by Christopher John Van Kleeck and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Ge Guo
Publisher : Springer Nature
ISBN 13 : 9811681090
Total Pages : 244 pages
Book Rating : 4.8/5 (116 download)
Download or read book Stabilization, Tracking and Formation Control of Autonomous Marine Vessels written by Ge Guo and published by Springer Nature. This book was released on 2021-12-15 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.
Author : Sanjay Sharma
Publisher : Institution of Engineering and Technology
ISBN 13 : 1785613383
Total Pages : 348 pages
Book Rating : 4.7/5 (856 download)
Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-06-26 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.
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 : 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.
Author : Sanjay Sharma (Associate professor in intelligent autonomous control systems)
Publisher :
ISBN 13 : 9781523124367
Total Pages : 348 pages
Book Rating : 4.1/5 (243 download)
Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma (Associate professor in intelligent autonomous control systems) and published by . This book was released on 2019 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications.
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 :
Publisher :
ISBN 13 :
Total Pages : 8 pages
Book Rating : 4.:/5 (227 download)
Download or read book A Leader-Follower Algorithm for Multiple AUV Formations written by and published by . This book was released on 2004 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the future, it may be possible to employ large numbers of autonomous marine vehicles to perform tedious and dangerous tasks, such as minesweeping. Hypothetically, groups of vehicles may leverage their numbers by cooperating. A fundamental form of cooperation is to perform tasks while maintaining a geometric formation. The formation behavior can then enable other cooperative behaviors. In this paper, we describe a leader-follower formation-flying control algorithm. This algorithm can be applied to one-, two-, and three-dimensional formations, and contains a degree of built-in robustness. Simulations and experiments are described that characterize the performance of the formation control algorithm. The experiments utilized surface craft that were equipped with an acoustic navigation and communication system, representative of the technologies that constrain the operation of underwater autonomous vehicles. The simulations likewise included the discrete-time nature of the communication and navigation.
Author : Carlos C. Insaurralde
Publisher : Springer
ISBN 13 : 3319187783
Total Pages : 240 pages
Book Rating : 4.3/5 (191 download)
Download or read book Intelligent Autonomy for Unmanned Marine Vehicles written by Carlos C. Insaurralde and published by Springer. This book was released on 2015-06-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.
Author :
Publisher :
ISBN 13 :
Total Pages : 43 pages
Book Rating : 4.:/5 (617 download)
Download or read book "Follow the Leader" written by and published by . This book was released on 2005 with total page 43 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the Global War on Terrorism (GWOT) taking place in full force, autonomous vehicles have become a major asset to government forces. Expansion of single vehicle technology to multiple vehicle technology is required in order for the United States to stay ahead of its adversaries in the GWOT and other technological fields (such as oceanography). Multiple vehicle technology has been explored by many different institutions in the recent past (Leonard, 2001 and Kucik, 2003). Expansion of this technology will lead to greater autonomy and robustness amongst the vehicles. This thesis presents a simulation of a "follow the leader" behavior for multiple Autonomous Underwater Vehicles (AUVs). The follower vehicle incorporates the use of forward-looking sonar to track the leader vehicle. This process will free up bandwidth between acoustic modems; allowing data transfer to occur with greater efficiency. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified waypoints similar to a real-world mission track. A two-dimensional forward looking sonar model with a 120 [degree] horizontal scan and a 110 meter radial range is modeled to track the leader vehicle. Resulting bearing and range between the two vehicles is incorporated as control for positioning the follower vehicle.
Author : Sahar Sedaghati
Publisher :
ISBN 13 :
Total Pages : 188 pages
Book Rating : 4.:/5 (111 download)
Download or read book Formation Control and Fault Accommodation for a Team of Autonomous Underwater Vehicles written by Sahar Sedaghati and published by . This book was released on 2015 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is the development of efficient formation control and fault accommodation algorithms for a team of autonomous underwater vehicles (AUVs). The team of AUVs are capable of performing a wide range of deep water marine applications such as seabed mapping and surveying, oil and gas exploration and extraction, and oil and gas pipeline inspection. However, communication limitations and the presence of undesirable events such as component faults in any of the team members can prevent the whole team to achieve safe, reliable, and efficient performance while executing underwater mission tasks. In this regard, the semi-decentralized control scheme is developed to achieve trajectory tracking and formation keeping while requiring information exchange only among neighboring agents. To this end, model predictive control (MPC) technique and dynamic game theory are utilized to formulate and solve the formation control problem. Moreover, centralized and decentralized control schemes are developed to assess the performance of the proposed semi-decentralized control scheme in the simulation studies. The simulation results verify that the performance of the proposed semi-decentralized scheme is very close to the centralized scheme with lower control effort cost while it does not impose stringent communication requirements as in the centralized scheme. Moreover, the semi-decentralized active fault recovery scheme is developed to maintain a graceful degraded performance and to ensure that the team of autonomous underwater vehicles can satisfy mission objectives when an actuator fault occurs in any of the team members. In this regard, online fault information provided by fault detection and isolation (FDI) modules of each agent and its neighbors are incorporated to redesign the nominal controllers based on the MPC technique and dynamic game theory. Additionally, FDI imperfections such as fault estimation error and time delay are taken into account, and a performance index is derived to show the impact of FDI imperfections on the performance of team members. Moreover, centralized and decentralized active fault recovery schemes are developed to evaluate the performance of the proposed semi-decentralized recovery scheme through comparative simulation studies with various fault scenarios. The comparative simulation studies justify that the proposed semi-decentralized fault recovery scheme meets the design specifications even if the performance of the FDI module is not ideal.
Author : Hao Liu
Publisher : CRC Press
ISBN 13 : 1000788504
Total Pages : 145 pages
Book Rating : 4.0/5 (7 download)
Download or read book Robust Formation Control for Multiple Unmanned Aerial Vehicles written by Hao Liu and published by CRC Press. This book was released on 2022-12-01 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.
Author : Béla Lantos
Publisher : Springer Science & Business Media
ISBN 13 : 1849961220
Total Pages : 479 pages
Book Rating : 4.8/5 (499 download)
Download or read book Nonlinear Control of Vehicles and Robots written by Béla Lantos and published by Springer Science & Business Media. This book was released on 2010-12-01 with total page 479 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Author : Yu-Long Wang
Publisher : Springer Nature
ISBN 13 : 3031286057
Total Pages : 212 pages
Book Rating : 4.0/5 (312 download)
Download or read book Network-Based Control of Unmanned Marine Vehicles written by Yu-Long Wang and published by Springer Nature. This book was released on 2023-05-02 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.
Author : Marcio de Queiroz
Publisher : John Wiley & Sons
ISBN 13 : 1118887441
Total Pages : 204 pages
Book Rating : 4.1/5 (188 download)
Download or read book Formation Control of Multi-Agent Systems written by Marcio de Queiroz and published by John Wiley & Sons. This book was released on 2019-04-08 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.
Author : G.N. Roberts
Publisher : IET
ISBN 13 : 0863414508
Total Pages : 461 pages
Book Rating : 4.8/5 (634 download)
Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.
Author :
Publisher :
ISBN 13 :
Total Pages : 64 pages
Book Rating : 4.:/5 (474 download)
Download or read book Barnets Sangbog written by and published by . This book was released on 1888 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt:
