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This paper addresses the problem of distributed path following of multiple underatuated Autonomous Underwater Vehicles (AUVs). Stated briefly, the problem consists of steering a group of AUVs along specified paths while keeping a desired cooperative behavior. Strategy proposed is consisted of a path following control law and a coordination algorithm. Path following for each AUV is derived from Lyapunov...
A genetic algorithm based optimization approach is proposed for constrained control allocation problem via adjusting the components of output vector and finding a proper vector in the attainable moment set (AMS) autonomously. The basic idea is to minimize the L2 norm of error between the desired moment and attainable moment using the designing freedom provided by redundant control surfaces. With the...
A fuzzy logic based optimization approach is employed to solve the constrained control allocation problem via intelligent adjusting the components of output vector and find a proper vector in the attainable moment set (AMS) autonomously. The basic idea is to minimize the L2 norm of error between the desired moment and achievable moment using the designing freedom provided by redundantly allocated...
An intelligent optimization approach is proposed for eigenstructure assignment (EA) via neural network (NN) adjusting the components of output vector autonomously. The Basic idea is to minimize the L2 norm of error between the desired vector and achievable vector using the designing freedom provided by EA technique. Besides adjusting the output vector parameters, the closed-loop eigenvalues are also...
A dynamic neuro-fuzzy (DNF) adaptive control system is presented in this paper for the trajectory tracking of a flexible-link manipulator with poorly known dynamics, where the robot tip vibration is measured by position sensitive detectors (PSDs). Based on the singular perturbation method and two time-scale decompositions, the robot dynamics is approximated by a slow subsystem of an equivalent rigid...
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