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This paper studies the stabilization control problem for an underactuated unmanned surface vehicle (USV) using only two independent propellers. Firstly, it transforms the whole dynamical system of unmanned surface vehicles into a cascade nonlinear system based on global diffeomorphism change of coordinate, and the stabilization problem of original system can be reduced to the stabilization control...
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...
Sigmoid surface control (SSC) has been proved to be effective in motion control of underwater vehicles, but it is hard to adjust its control parameters. Particle swarm optimization (PSO) of SSC was proposed, and improved aiming at the problems that PSO may be trapped in local optimum and fails to converge to global optimum. Moreover, intelligent integral of SSC was introduced to eliminate steady-state...
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