The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Self-balance system is a kind of special wheeled mobile robots, a typical device used to test control methods. In this paper, based on mechanical analysis, linear and nonlinear models of self-balance system were established. Controllers were designed, including pole-placement and lqr controller, according to linear system theory. By using control and simulation tool box of LabVIEW, pole-placement...
In this paper, we consider the cooperative driving of an automobile platoon in the longitudinal direction under the bidirectional information architecture, i.e., the cruise control makes use of the distances to the follower as well as to the predecessor. The framework of LTI systems with generalized frequency variables has been employed in the performance analysis in terms of D-stability and H2-norm...
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...
This paper studies the speed and yaw control problem for an underactuated unmanned surface vehicle (USV) with only two propellers. Firstly, it transforms the dynamical system of speed and yaw into a cascade nonlinear system, and the resulting cascade system can be reduced to the stabilization control problem of a surge speed and yaw subsystem. Secondly, the surge speed and yaw controller are proposed...
In this paper we present the design, modeling and control of a quad tilting thruster Micro Autonomous Underwater Vehicle (MicroAUV). The detailed dynamic model of the vehicle is deduced via the Euler-Lagrange formulation. We address the stabilization of the attitude of the vehicle to perform manipulation tasks. For this purpose, we have employed a saturated-based control algorithm. Experimental autonomous...
This paper presents an overview of an autonomous robotic system for material handling. The system is being developed by extending the functionalities of traditional AGVs to be able to operate reliably and safely in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our...
The unstructured sea environment and the uncertainty of AUV (Autonomous Underwater Vehicle) model make a hard difficulty to AUV heading control. PID controller has good robustness and high reliability characteristics for that can get accurate model of definite system in math. But PID controller is not satisfactory for the system with inaccurate and nonlinear model in unstructured sea environment....
This paper presents AUTOTRACKER, an autonomous pipeline inspection system that operates as a dynamic mission payload for an Autonomous Underwater Vehicle (AUV). The paper describes the mode of operation, together with the validation & trial operations AUTOTRACKER has undertaken over the years, and how this valuable experience has been fed back into the future development of the system.
This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a realistic vehicle model. The analysis results suggested the use of a well-known time-optimal path...
Modern developments in the fields of control, sensing, and communication have made increasingly complex and dedicated underwater robot systems a reality. Used in a highly hazardous and unknown environment, the autonomy and dynamics of the robots is the key to mission success. Though the dynamics of underwater vehicle system is highly coupled and non linear in nature, decoupled control system strategy...
This paper proposes some feasible ideas to improve research on coordinated control of multiple AUVS in the future. Firstly, there is a glancing overview about the state of the art of coordinated multi-AUVS, especially the drawbacks in concurrent research have been indicated, and then the aim of prospective research to derive distributed and scalable control laws is announced, which is based on stability...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.