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Andrea D?Ambrosio and Roberto Furfaro
This paper demonstrates the utilization of Pontryagin Neural Networks (PoNNs) to acquire control strategies for achieving fuel-optimal trajectories. PoNNs, a subtype of Physics-Informed Neural Networks (PINNs), are tailored for solving optimal control pr...
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Hongfen Bai, Bo Yu and Wei Gu
With the increasing use of electric propulsion ships, the emergence of the shaftless rim-driven thruster (RDT) as a revolutionary integrated motor thruster is gradually becoming an important development direction for green ships. The shaftless structure ...
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Jiawen Li, Yujia Wang, Haiyan Li, Xing Liu and Zhengyu Chen
Ocean currents, mechanical collisions and electronic damage can cause faults in an autonomous underwater vehicle (AUV), including sensors and thrusters. For such problems, this paper designs a fault-tolerant controller that is independent of the results ...
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Tianwei Huang, Mengxing He, Kan Hong, Yingtien Lin and Pengcheng Jiao
Curved channels and aquatic vegetation are commonly present in the riverine environment. In this study, the effects of vegetation density and distribution on the hydrodynamic characteristics of a mixed layer developed over a 180-degree curved channel wer...
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Hongjiang Yu, Guoshun Yuan, Dewei Kong, Lei Lei and Yuefeng He
Data analysis and processing system, Neural network system, Accelerator and Coprocessor.
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Yang Yu, Shimin Wei, Haiyan Sheng and Yingkun Zhang
In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental...
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Hugan Zhang, Xianku Zhang and Renxiang Bu
In the process of ship navigation, due to the characteristics of large inertia and large time delay, overshoot can easily occur in the process of path following. Once the ship deviates from the waypoint, it is prone to grounding and collision. Considerin...
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Bingbing Qiu, Guofeng Wang, Yunsheng Fan, Dongdong Mu and Xiaojie Sun
In the presence of modeling uncertainties and input saturation, this paper proposes a practical adaptive sliding mode control scheme for an underactuated unmanned surface vehicle (USV) using neural network, auxiliary dynamic system, sliding mode control ...
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