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A coverage control algorithm in unknown environment is proposed for the multi-vehicle systems in this paper. The measurement white-noise is taken into consideration while learning the interest information online. The Kalman Filter (KF) is introduced to eliminate the noise disturbance and provide us a set of accurately sampled-data. Then, we describe an adaptive algorithm to approximate the sensory...
In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem $\Sigma_{a}$ consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated...
This paper derives a control law to steer the dynamic model of an underactuated autonomous underwater vehicle (AUV) along a predefined path. We describe the path to be followed by the movement of a virtual AUV and drive the actual AUV on the desired path through following this virtual AUV. Furthermore, it overcomes a singular point that are presented in a number of path following control strategies...
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov...
In formation control, each autonomous underwater vehicle (AUV) needs to maintain a desired distance among others while following its predefine path. We divided the problem into two steps, one is path following of a single vehicle, and the other is coordinating the path parameter. We combine backstepping and Lyapunov method to derive the path following algorithm for each AUV, and then make each AUVpsilas...
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