[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Dai et al., 2019 - Google Patents

An EKF-based fast tube MPC scheme for moving target tracking of a redundant underwater vehicle-manipulator system

Dai et al., 2019

Document ID
11697182205974363430
Author
Dai Y
Yu S
Yan Y
Yu X
Publication year
Publication venue
IEEE/ASME Transactions on Mechatronics

External Links

Snippet

This paper presents a control scheme for addressing the moving target grabbing problem by a kinematically constrained redundant underwater vehicle-manipulator system (UVMS) in the presence of unmodeled uncertainties, sensory detecting noises, and time-varying …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Similar Documents

Publication Publication Date Title
Dai et al. An EKF-based fast tube MPC scheme for moving target tracking of a redundant underwater vehicle-manipulator system
Wu et al. Depth control of model-free AUVs via reinforcement learning
Liu et al. Bounded neural network control for target tracking of underactuated autonomous surface vehicles in the presence of uncertain target dynamics
Peng et al. Path-following control of autonomous underwater vehicles subject to velocity and input constraints via neurodynamic optimization
Chen et al. RBFNN-based adaptive sliding mode control design for delayed nonlinear multilateral telerobotic system with cooperative manipulation
Kong et al. Extended state observer-based controller with model predictive governor for 3-D trajectory tracking of underactuated underwater vehicles
Wang et al. Neural adaptive command filtered control for cooperative path following of multiple underactuated autonomous underwater vehicles along one path
Wang et al. Adaptive robust online constructive fuzzy control of a complex surface vehicle system
Han et al. Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments
Dai et al. An adaptive EKF-FMPC for the trajectory tracking of UVMS
Yan et al. Trajectory tracking control of UUV based on backstepping sliding mode with fuzzy switching gain in diving plane
Cai et al. Autonomous manipulation of an underwater vehicle-manipulator system by a composite control scheme with disturbance estimation
Deng et al. UKF based nonlinear offset-free model predictive control for ship dynamic positioning under stochastic disturbances
Lv et al. Disturbance rejection control for underwater free-floating manipulation
Lamraoui et al. Path following control of fully actuated autonomous underwater vehicle based on LADRC
Pan et al. Learning for depth control of a robotic penguin: A data-driven model predictive control approach
Jimoh et al. A velocity form model predictive control of an autonomous underwater vehicle
Li et al. Formation control of a group of AUVs using adaptive high order sliding mode controller
Jiang et al. A Robust Safety–Critical Control Framework for Control Affine Systems With Applications to AUVs
Liu et al. Lyapunov-based model predictive visual servo control of an underwater vehicle-manipulator system
Loueipour Design of dynamic positioning control system for an ROV with unknown dynamics using modified time delay estimation
Suboh et al. Modeling and control of 2-DOF underwater planar manipulator
Rahmah et al. Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis
Yu et al. Fuzzy-based way-point tracking control of autonomous marine vehicles with input saturation
Bharti et al. Robust tracking control for underactuated autonomous underwater vehicles