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This paper proposed a novel control method for dynamic positioning of an uninhabited surface vehicle (USV). A state-dependent Riccati equation (SDRE) technique was introduced to deal with dynamic positioning problem of the USV. A new state-dependent coefficient (SDC) matrix was built to show the relationship between variables and satisfy the control inputs saturation for practical application. In...
This paper presents an efficient path-planner based on a hybrid optimization algorithm for autonomous underwater vehicles (AUVs) operating in cluttered and uncertain environments. The algorithm integrates particle swarm optimization (PSO) algorithm with Legendre pseudospectral method (LPM), which is named as hybrid PSO-LPM algorithm. PSO is first employed as an initialization generator with its strong...
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