This paper is concerned with a vertical plane cooperative diving problem of multiple homogenous under-actuated saucer-type autonomous underwater gliders. First, a kinematic control law is constructed ...on the basis of a line-of-sight guidance principle in a vertical plane. Then, a linear extended state observer is presented to design a cooperative diving controller for each glider. Finally, using the cascade theory to analyze the stability of the closed-loop system. The simulation results are given to prove the effectiveness of the proposed linear extended state observers for the under-actuated saucer-type autonomous underwater glider.
This paper presents a guidance law design for synchronized path following of multiple underactuated unmanned surface vehicles (USVs) without using a global reference velocity. Firstly, a distributed ...observer is proposed to eliminate the need of reference velocity known to all the vehicles. Secondly, a line-of-sight based guidance law is derived to force each vehicle to follow a parameterized path. Finally, a neighbor-based coordination design is developed to synchronize the path variables. The equilibrium point of the close-loop system is shown to be globally uniformly asymptotically stable. Simulation results validate the efficacy of the proposed cooperative guidance law.
This paper is concerned with the guidance and control design for a swarm of multiple under-actuated autonomous surface vehicles subject to unmeasured velocities of neighbors, system uncertainties and ...ocean disturbances. A robust distributed guidance and predictive control architecture is presented to achieve a desired formation along a parameterized path. Specifically, a robust distributed constant bearing guidance law is designed based on extended state observers. Then, optimized surge speed and heading controllers are designed based on finiteset model predictive control for selecting optimal actions within finite control sets and extended state observers for recovering the unmeasured yaw rate and unknown model. Simulation results demonstrate the effectiveness of the proposed robust distributed cooperative guidance and control methods for path-guided formation maneuvering of multiple under-actuated autonomous surface vehicles.
A target enclosing scheme is investigated for autonomous surface vehicles. The target moves with a time-varying and unknown velocity, and only the relative range and angle is available. A yaw rate ...control law is proposed at first, where an extended state observer is designed to identify relative dynamics. Next, using the torque and position date from the follower, a fuzzy system is utilized based on prediction errors to estimate the dynamics caused by parametric uncertainty, unmodeled hydrodynamics and external disturbances. Finally, using the reconstructed unknown dynamics, a predictor-based bounded kinetic control law is proposed. Though Lyapunov theory, the target enclosing system is analyzed, and the result of input-to-state stability is proved. Simulation study for two vehicles shows the effectiveness of this target enclosing controller.
This paper analyzes and summarizes the data quality problems in the Shaanxi Science and Technology Resource Coordination Center "Science and Technology Cloud" project. These two major problems about ...scientific and technological information data quality are verified. One is data redundancy caused by organizations' name abbreviation and the other is partial scientific and technological information data missing. This paper designs and implements solutions to the problems in "Science and Technology Cloud" project. This paper extracts 15643 data from scientific and technical talent pool and scientific literature library. The experimental results verify the effectiveness and feasibility of the solution of data redundancy and data missing.
This paper discusses the problem of on-line optimal control of FCCU. First a new optimal control scheme is put forward. Then some key problems to make up this optimal control system and the solving ...scheme arc discussed. Finally, the on-line industrial running results of this system are given.
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