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In this paper, the conceptual design with integrating motion control and considering the cross current was applied to establish a submarine motion simulator, where the path motion stability is evaluated. The methods used to construct the simulator include the standard navigation approach by applying the LOS algorithms and PD control Euler-Rodriguez quaternion for conversion between submarines motion...
In this paper, an improved sliding mode controller based on bio-inspired scheme is put forward to complete the depth tracking task for remotely operated underwater vehicle (ROV). Firstly, the heave motion model of ROV is rewritten in an appropriate form. Secondly, a disturbance observer is established to estimate and compensate the disturbance imposed on ROV. Afterwards the control input of ROV is...
This paper proposes a suboptimal nonlinear model predictive control (NMPC) algorithm based on Genetic Algorithm (GA). A nonlinear programming problem is solved online in NMPC. GA has been successfully applied to nonlinear programming problems where other decent-based methods have often failed. In this paper GA is used to optimize the control sequence per sampling time. In order to reduce the computational...
This paper deals with steering control problem of a computer simulated model car with fuzzy control approach. For simulating the real environment, the stochastic behavior of system is considered as multiplicative noise term. In addition, the external disturbance effect on system is also discussed for achieving attenuation performance by applying passivity theory. Through using the Takagi-Sugeno (T-S)...
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