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Shukuan Zhang, Yunxiang Nan, Yusen Zhang, Chuan Xiang and Mai The Vu
The propulsion system for underwater vehicles, driven by a counter-rotating permanent magnet synchronous motor (CRPMSM), can enhance the operational stability and efficiency of the vehicle. Due to the influence of complex underwater flows, the load imbal...
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Wenhao Li, Xianxia Zhang, Yueying Wang and Songbo Xie
Model predictive control (MPC), an extensively developed rolling optimization control method, is widely utilized in the industrial field. While some researchers have incorporated predictive control into underactuated unmanned surface vehicles (USVs), mos...
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Yongyong Zhao, Jinghua Wang, Guohua Cao and Xu Yao
This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulation,...
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Yusuf Abubakar Sha?aban
Most industrial processes are regulated using PID control. However, many such processes often operate far from optimally because PID may not be the most suitable control method. Moreover, second-order models represent a large class of all controlled syst...
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Tayyab Manzoor, Hailong Pei, Zhongqi Sun and Zihuan Cheng
This paper proposes a model predictive control (MPC) approach for ducted fan aerial robots using physics-informed machine learning (ML), where the task is to fully exploit the capabilities of the predictive control design with an accurate dynamic model b...
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Fatemeh Jafari, S. Jamshid Mousavi and Kumaraswamy Ponnambalam
The model predictive control (MPC) approach can be implemented in either a reactive (RE-) or predictive (PR-) manner to control the operation of urban drainage systems (UDSs). Previous research focused mostly on the RE-MPC, as the PR-MPC, despite its pot...
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Wei Li, Jun Zhang, Fang Wang and Hanyun Zhou
The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this paper m...
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Linling Wang, Xiaoyan Xu, Bing Han and Huapeng Zhang
In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV motion m...
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Huixuan Fu, Wenjing Yao, Ricardo Cajo and Shiquan Zhao
The motion of unmanned surface vehicles (USVs) is frequently disturbed by ocean wind, waves, and currents. A poorly designed controller will cause failures and safety problems during actual navigation. To obtain a satisfactory motion control performance ...
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En Lu, Jialin Xue, Tiaotiao Chen and Song Jiang
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous...
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