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In this paper, the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle (UUV) control. Firstly, the kinematic tracking controller based on model predictive control (MPC) is applied to reach the tracking control in a kinematic way. Compared with conventional backstepping control, MPC can solve the speed jump control problem very...
For the traveling salesman problem (TSP) which is also an important aspect for mobile robots, a continuous Hopfield neural network based on dynamic step is applied to solve TSP. For combinatorial optimization problems such as TSP can be mapped to a Continuous Hopfield neural network (CHNN). The dynamic step size is used to replace the fixed step size, which can solve the problem of the mutual restriction...
Trajectory tracking of unmanned underwater vehicles (UUV) in two-dimension is researched by analyzing and establishing a two-dimension kinematic model of UUV. A new approach of trajectory tracking is posed, which is called model predictive control. Model predictive control is used based on linear description of the error model and it has to satisfy the control constraints. The optimization problem...
Multi-AUV hunting problem has been one of the focusing issues in the multi-robot system research. For the coordination problem between AUVs and ocean current influence in the process of AUV collaboration hunting and in order to hunt the target efficiently, a novel multi-AUV hunting algorithm is proposed in this paper. Firstly, the multi-AUV hunting algorithm based on the bio-inspired neural network...
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