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Conventional grey GM(1,1) method might generate much large prediction errors when predicting the trend of weak thruster fault. To solve this problem, a prediction method based on improved grey prediction model is proposed. The proposed method selects the known sequence point with the minimum prediction error as the initial condition of grey derivative model, rather than first element of the known...
An adaptive sliding mode backstepping fault-tolerant control is proposed for autonomous underwater vehicle(AUV) with thruster faults. Thruster faults are treated as uncertainties. Gaussian radial-basis-function networks are used to approximate these general uncertainties. In addtion, no Fault Detection and Diagnosis unit is needed in the proposed method.The controller can guarantee closed-stability...
This paper analytically analyzes the porpoising behavior of dolphins and other cetaceans in the context of bio-robotics. Based on the conventional assumption that porpoising saves energy at high speed, the “crossover” speed is recalculated. A dynamic model for a multilink dolphin-like robot within the framework of multibody dynamics is created. Simulations using the dynamic model have been extensively...
In this paper, a novel relative gradient is proposed to solve the blind source separation problem. An iterative method is introduced to solve the nonlinear matrix equation which is derived from the relative gradient where no learning rate is needed. Kernel density estimation is utilized to estimate the density functions as well as their first and second derivatives, which makes the algorithm adaptive...
In this paper, an improved source adaptive fixed-point algorithm for independent component analysis (ICA) is presented. This algorithm is based on solving the estimating equation through fixed-point algorithm. To achieve the source adaptivity, the density functions as well as their first and second derivatives are estimated by a modified kernel density method. The experimental results confirm the...
To deal with the difficulty of establishing the accurate dynamics mathematical model of the underwater robots, a qualitative modeling method of underwater robots dynamics is presented based on qualitative simulation. Considering the complexity of the working environment and particularity of the non-linear movement process of underwater robots, through determining the landmark values and distinguished...
Operating in complex ocean environment, the condition monitoring and fault diagnosis of sensors have great impact on the safety of autonomous underwater vehicle (AUV). When the sensor soft fault of AUV is detected by the traditional method of observer based on the means of close-loop control and close-loop detection, the sensor measured value with fault information is fed into the input of observer,...
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