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To ensure the X-rudder autonomous underwater vehicle (AUV) complete the mission in the case of motion actuators failure, a fault-tolerant motion control method based on reconstructive approach is designed in this paper. This fault-tolerant motion control method is composed by double-rudder allocation and triple-rudder allocation, which are based on X rudder's characteristics. One simulation is built...
In spite of the recent advances in AUV intelligence techniques, robustly solving their vision perception in ocean environment is still a challenging problem. In this paper, we describe a new framework for object detection and tracking of an AUV, which includes software system and hardware system. It is designed for Vision-based AUV carrying forward looking sonar. The raw data from the sensors are...
A motion control strategy consisting of both position and speed control was designed for different work assignments of Autonomous Underwater Vehicles (AUV). To provide a form that will be suitable for simulation and control purposes, a general mathematical model of underwater vehicles was derived based on the six degrees of freedom nonlinear equations of motion. An improved S-surface controller based...
A real-time control scheme based on fuzzy neural network (FNN) is proposed for the motion control of autonomous underwater vehicles (AUVs) in this paper, for which the dynamics of the controlled system need not be completely known. A real-time desired state planning (DSP) based a sigmoid reference model is introduced to assist the FNN to keep the track error in a low level, and that also can serve...
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