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Mingyao Zhang, Zheping Yan, Jiajia Zhou and Lidong Yue
This paper focuses on the collision-free formation tracking of autonomous underwater vehicles (AUVs) with compound disturbances in complex ocean environments. We propose a novel finite-time extended state observer (FTESO)-based distributed dual closed-lo...
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Huixuan Fu, Wenjing Yao, Ricardo Cajo and Shiquan Zhao
The motion of unmanned surface vehicles (USVs) is frequently disturbed by ocean wind, waves, and currents. A poorly designed controller will cause failures and safety problems during actual navigation. To obtain a satisfactory motion control performance ...
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Wei Li, Jun Zhang, Fang Wang and Hanyun Zhou
The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this paper m...
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En Lu, Jialin Xue, Tiaotiao Chen and Song Jiang
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous...
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Baocheng Zhou, Xin Su, Hongjun Yu, Wentian Guo and Qing Zhang
With the development of agricultural mechanization and information technology, automatic navigation tractors are becoming a more common piece of farm equipment. The accuracy of automatic navigation tractor path tracking has become critical for maximizing...
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Tayyab Manzoor, Hailong Pei, Zhongqi Sun and Zihuan Cheng
This paper proposes a model predictive control (MPC) approach for ducted fan aerial robots using physics-informed machine learning (ML), where the task is to fully exploit the capabilities of the predictive control design with an accurate dynamic model b...
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Yanwei Zhang, Hao Zheng, Jing Xu and Zhonglai Wang
Clapping-wing micro air vehicles (CWMAVs) face many control problems due to their lightweight design and susceptibility to disturbances. This study proposes a radial basis function (RBF) model-based adaptive model predictive control (AMPC) for trajectory...
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Zehan Wang, Zhenggang Lu, Juyao Wei and Xiaojie Qiu
The virtual track train (VTT) is a new urban public transportation system that adopts all-axle steering and distributed drive. The Super autonomous Rail rapid Transit (SRT), as one of them, adopts a four-module six-axle structure. In response to its cruc...
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Bailun Jiang, Boyang Li, Weifeng Zhou, Li-Yu Lo, Chih-Keng Chen and Chih-Yung Wen
A dynamic model that considers both linear and complex nonlinear effects extensively benefits the model-based controller development. However, predicting a detailed aerodynamic model with good accuracy for unmanned aerial vehicles (UAVs) is challenging d...
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Madhur Tiwari, Eric Coyle and Richard J. Prazenica
In this work, we propose a novel controller based on a simple adaptive controller methodology and model predictive control (MPC) to generate and track trajectories of a spacecraft in the vicinity of asteroids. The control formulation is based on using ad...
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Yong Gao, Dongliang Wang, Wu Wei, Qiuda Yu, Xiongding Liu and Yuhai Wei
Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, an omnidirectional tracking strategy based on model predictive control and real-time repla...
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Shiquan Zhao, Sizhe Wang, Ricardo Cajo, Weijie Ren and Bing Li
The marine boiler-turbine system is the core part for the steam-powered ships with complicated dynamics. To improve the power tracking performance and fulfill the requirement of high utilization rate of fossil energy, the control performance of the syste...
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Dunjing Yu, Fang Deng, Hongyan Wang, Xiuhui Hou, Hualin Yang and Tikun Shan
This paper presents a weight optimization method for a nonlinear model predictive controller (NMPC) based on the genetic algorithm (GA) for ship trajectory tracking. The weight coefficients Q and R of the objective function in NMPC are obtained via the r...
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Fabrizio Stesina
The release and retrieval of a CubeSat from a big spacecraft is useful for the external inspection and monitoring of the big spacecraft. However, docking maneuvers during the retrieval are challenging since safety constraints and high performance must be...
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Kegang Zhao, Chengxia Wang, Guoquan Xiao, Haolin Li, Jie Ye and Yanwei Liu
This work is used for the unmanned driving of vehicles and other devices.
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Guoxing Bai, Li Liu, Yu Meng, Weidong Luo, Qing Gu and Baoquan Ma
This work is used for unmanned mining vehicles or articulated mobile robots.
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Pengkai Ru and Kamesh Subbarao
This paper discusses the derivation and implementation of a nonlinear model predictive control law for tracking reference trajectories and constrained control of a quadrotor platform. The approach uses the state-dependent coefficient form to capture the ...
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Pengkai Ru and Kamesh Subbarao
This paper discusses the derivation and implementation of a nonlinear model predictive control law for tracking reference trajectories and constrained control of a quadrotor platform. The approach uses the state-dependent coefficient form to capture the ...
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Chengxi Wu, Yuewei Dai, Liang Shan and Zhiyu Zhu
This paper focuses on developing a data-driven trajectory tracking control approach for autonomous underwater vehicles (AUV) under uncertain external disturbance and time-delay. A novel model-free adaptive predictive control (MFAPC) approach based on a f...
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Yuqin Dong, Nailong Wu, Jie Qi, Xinyuan Chen and Chenhua Hua
In view of the vulnerability of ocean unmanned sailboats to the large lateral velocities due to wind and waves during navigation, this paper proposes a Gaussian Process Model Predictive Control (GPMPC) method based on data-driven learning technique to im...
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