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Preserving Linear Design Capabilities In The Nonlinear Control Of Nonholomonic Autonomous Underwater Vehicles
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Book Synopsis Preserving Linear Design Capabilities in the Nonlinear Control of Nonholomonic Autonomous Underwater Vehicles by : A. Santos
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:
Book Synopsis Autonomous Underwater Vehicles by : Sabiha Wadoo
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.
Book Synopsis Control of Ships and Underwater Vehicles by : Khac Duc Do
Download or read book Control of Ships and Underwater Vehicles written by Khac Duc Do and published by Springer Science & Business Media. This book was released on 2009-08-09 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.
Book Synopsis Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs). by :
Download or read book Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs). written by and published by . This book was released on 2007 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: An increasing variety of sensors are becoming available for use onboard autonomous vehicles. Given these enhanced sensing capabilities, scientific and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to function in complex, cluttered environments and react to changing environmental parameters. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. In this research, a nonlinear controller was derived, designed, implemented in simulation and onboard a AUV, and in-water tested in order to enhance vehicle maneuverability. The structure of a controller is hierarchical such that an inner loop non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a library of outer-loop non-linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner which selects which outer-loop controller will be used. The algorithms are generic and in no way vehicle specific and can therefore be implemented on various AUVs.
Book Synopsis Autonomous Underwater Vehicles by : Jing Yan
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.
Book Synopsis Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms Onto an Unmanned Underwater Vehicle (UUV). by :
Download or read book Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms Onto an Unmanned Underwater Vehicle (UUV). written by and published by . This book was released on 2007 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a vehicle capable of rotating in place or having a fraction of a meter turning radius is needed to conduct the mission. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. The novel controllers are expected to be nonlinear due to the fact that the vehicle is translating at nonzero attitude or translating in a direction different from that of the surface. Non-linear controller that compensates for non-linear forces (such as drag, buoyancy/gravity) was designed, installed onto the UUV test-bed, and in-water tested. The structure of a controller is hierarchical such that an "inner loop" non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate "outer-loop" nonlinear controller is used based on what mission or part of the mission is desired.
Book Synopsis International Aerospace Abstracts by :
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1996 with total page 962 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Underwater Robotic Vehicles by : Junku Yuh
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.
Book Synopsis Mine Avoidance and Localization for Underwater Vehicles Using Continuous Curvature Path Generation and Non-linear Tracking Control by : Dean J. Cottle
Download or read book Mine Avoidance and Localization for Underwater Vehicles Using Continuous Curvature Path Generation and Non-linear Tracking Control written by Dean J. Cottle and published by . This book was released on 1993 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many underwater vehicles have been designed to follow a straight path using linear approximations about that path. Tracking a dynamic path of arbitrary but continuous curvature may often be desired. This will require a nonlinear controller with enhanced robustness properties. One point of this thesis is to show how nonlinear control using sliding modes may be applied to follow a dynamic path. In a mine warfare setting using Autonomous Underwater Vehicles (AUVs), reflexive maneuvers will be required for nine avoidance. This thesis presents one way in which paths for mine avoidance maneuvers may be generated automatically and used as inputs to the nonlinear tracking control system of the vehicle. It has been shown through simulation that a random minefield can be traversed by an AUV while localizing and avoiding detected mines using these control concepts.
Book Synopsis Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy by : Chao Shen
Download or read book Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy written by Chao Shen and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing reliance on oceans, rivers and waterways in a spectrum of human activities have demonstrated the large demand for advanced marine technologies that facilitate multifarious in-water services and tasks. The autonomous underwater vehicle (AUV) is a representative marine technology which has been contributing continuously to many ocean-related fields. An elaborate control system is essential to AUVs. However, AUVs present difficult control system design problems due to their nonlinear dynamics, the unpredictable environment and the poor knowledge about the hydrodynamic coupling of the vehicle degrees of freedom. When designing the motion controller, the practical constraints on the AUV system such as limited perceiving, computing and actuating capabilities should also be respected. The model predictive control (MPC) is an advanced control technology that leverages optimization to calculate the control command. Thanks to the optimization nature, MPC can conveniently handle the complex nonlinearity in system dynamics as well as the state and control constraints. MPC takes the receding horizon control paradigm which gains satisfactory robustness against model uncertainties and external disturbances. Therefore, MPC is an ideal candidate for solving the AUV motion control problems. On the other hand, since the optimization is solved by iterative numerical algorithms, the obtained control signal is an implicit function of the system state, which complicates the characterization of the closed-loop properties. Moreover, the nonlinear system dynamics makes the online optimization nonlinear programming (NLP) problems. The high computational complexity may cause an issue on the real-time control for embedded platforms with limited computing resources. In order to push the advanced MPC technology towards real-world AUV applications, this PhD dissertation is concerned with fundamental AUV motion control problems and attempts to address the aforementioned challenges and provide novel solutions. This dissertation proceeds with Chapter 1 by providing state-of-the-art introductions to related research areas. The mathematical model used for the AUV motion control is elaborated in Chapter 2. In Chapter 3, we consider the AUV navigation and control problem in constrained workspace. A unified receding horizon optimization framework consisting of the dynamic path planning and the nonlinear model predictive control (NMPC) tracking control is developed. Although the NMPC tracking controller well accommodates the practical constraints on the AUV system, it presents a brand new design philosophy compared with the existing control systems that are implemented on real AUVs. Since the existing AUV control systems are reliable controllers, AUV practitioners tend not to fully replace them but to improve the control performance by adding features. By considering this, in Chapter 4, we develop the Lyapunov-based model predictive control (LMPC) scheme which builds on the existing AUV control system and invoke online optimization to improve the control performance. Chapter 5 focuses on the path following (PF) problem. Unlike the trajectory tracking control which equally emphasizes the spatial and temporal control objectives, the PF control often prioritizes the path convergence over the speed assignment. To incorporate this objective prioritization into the controller design, a novel multi-objective model predictive control (MOMPC) scheme is developed. While the MPC technique provides several salient features (e.g., optimality, constraints handling, objective prioritization, robustness, etc.), those features come at a price: a computational bottleneck is formed by the heavy burden of solving online optimizations in real time. To explicitly address this issue, in Chapter 6, the computational complexity of the MPC algorithms is particularly emphasized. Two novel strategies which potentially alleviate the computational burden of the MPC-based AUV tracking control are proposed. In Chapter 7, some conclusive remarks are provided and a few avenues for future research are identified.
Book Synopsis Design of Nonlinear Robust Guidance Law for Autonomous Underwater Vehicles by : 黃敏豪
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:
Book Synopsis Index to IEEE Publications by : Institute of Electrical and Electronics Engineers
Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1995 with total page 1314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.
Book Synopsis Continuum Deformation of Multi-Agent Systems by : Hossein Rastgoftar
Download or read book Continuum Deformation of Multi-Agent Systems written by Hossein Rastgoftar and published by Birkhäuser. This book was released on 2016-12-14 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a continuum evolving in Rn whose desired configuration is required to satisfy an admissible deformation function. The necessary theory and its validation on a mobile-agent-based swarm test bed are considered for two primary tasks: homogeneous transformation of the MAS and deployment of a random distribution of agents on a desired configuration. The framework for this model is based on homogeneous transformations for the evolution of an MAS under no inter-agent communication, local inter-agent communication, and intelligent perception by agents. Different communication protocols for MAS evolution, the robustness of tracking of a desired motion by an MAS evolving in Rn, and the effect of communication delays in an MAS evolving under consensus algorithms or homogeneous maps are also explored. Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented.
Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Book Synopsis Model Predictive Control by : James Blake Rawlings
Download or read book Model Predictive Control written by James Blake Rawlings and published by . This book was released on 2017 with total page 770 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cooperative Control of Multi-Agent Systems by : Frank L. Lewis
Download or read book Cooperative Control of Multi-Agent Systems written by Frank L. Lewis and published by Springer Science & Business Media. This book was released on 2013-12-31 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.
Book Synopsis Advances in Unmanned Marine Vehicles by : G.N. Roberts
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.
