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To deal with the disturbance of current and pulse moment in the heading control of Autonomous Underwater Vehicle(AUV), the paper presents an auto-disturbance-rejection controller for the heading control system of AUV. By selecting an operating point for the derived nonlinear model of AUV in horizontal plane, a linear heading control model of AUV is obtained by linearizing the model at the operating...
The depth control problem is described and addressed for a small autonomous underwater vehicle in this paper. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV's depth motion in vertical plane by linearizing the model at a specified operating point. An optimal integral-sliding-mode controller was designed for the AUV depth control system by constructing...
A heave-pitch-roll parallel-type motion platform used extensively for flight simulation applications is considered. 12 It introduces a novel configuration of the mechanism which benefits in two important aspects, better weight balancing due to utilizing a vertically mounted pneumatic actuator and better synchronization and higher stiffness due to the use of a new configuration of scissors. A model-based...
Over the last decade, numbers of researcher has been increased in the two-wheeled inverted pendulum mobile robots or commonly known as balancing robot. This paper presents the linear modeling of two wheels inverted pendulum mobile robot and the robustness of sliding mode control. Linear modeling plant was obtained from the simplified nonlinear plant that was based on state-space approach. The dynamic...
This paper describes a systematic method for designing the robust controller for the inverted pendulum which is a nonlinear and single-input double-output system. The system is proved to work properly through simulation and experimentation. It controlled both a car and vertical bar for control inverted pendulum in gravity field. In particular, the system is controlled by PSID. Especially, the result...
Carangiform biomimetic robotic fish are underactuated mechanical systems whose governing equations are highly nonlinear. Based on the quasi-steady flow model of a three-link biomimetic robotic fish of Caltech, we have the model form of a control-affine nonlinear system with drift. Then we make use of geometric tools to research control methods of forward gaits and turning gaits. Through analyzing...
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule...
This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control system models were developed. By implementing a multiple...
In this paper, we present a spherical mobile robot BYQ_III, for planetary surface exploration and security tasks. The driving torque for the rolling robot is generated by a new type of mechanism equipped with a counter-pendulum. This robot is nonholonomic in nature, and underactuated. In this paper, the three-dimensional (3-D) nonlinear dynamic model is developed, then decoupled to the longitudinal...
The paper addresses the problems of motion control in autonomous underwater vehicle. It is established a simplified mathematical model of AUV's pitch motion in vertical plane by linearizing the nonlinear model at a specified operating point. A fuzzy sliding-mode controller was designed to control the AUV's pitch motion under the disturbance of ocean current. The computer simulation results showed...
Forced singular perturbations (FSP) are proposed as a theoretical background to Bar-Itzhack's body−local-level split-coordinate frame multirate scheme intuitively derived for terrestrial strapdown navigation with reduced computations. Forcing the dynamics into distinct time scales caused a degradation of the continuous-time solution, though the loss of accuracy was not significant in comparison with...
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