This paper presents a control scheme for addressing the moving target grabbing problem by kinematically constrained redundant underwater vehicle-manipulator system (UVMS) in presence of unmodeled uncertainties, sensory detecting noises, and time-varying external disturbances. Our proposed is designed robust fast tube model predictive controller (FTMPC) with an extended Kalman filter (EKF) observer. The FTMPC consists online nominal MPC ancillary nonlinear to overcome uncertainties...

This paper addresses the trajectory tracking problem for constrained dynamical underwater vehicle-manipulator system (UVMS) in presence of dynamic uncertainties, sensory measurement noises, and time-varying external disturbances. An adaptive robust fast computational optimal control scheme is presented large-scale multiple-input-multiple-output (MIMO) UVMS. The structure our proposed based on a incremental model predictive controller (MPC) embedded with an extended Kalman filter (EKF). EKF...

The ORB (Oriented fast and rotated brief, ORB) algorithm is limited by its inability to extract feature points or only a small number of when fixed threshold used in complex lighting conditions. To address this issue, study proposes method that combines image enhancement with truncated adaptive improve the extraction algorithm. Firstly, original converted grayscale. Secondly, enhanced applying Gaussian filtering for noise reduction, gamma brightness adjustment, unsharp masking operation....

In this article, the actions of dual active bridge (DAB)-based three-phase single-stage ac–dc converter under nonideal grid conditions and corresponding solution are researched for first time. The average state-space model is built first. Then effect harmonics unbalance on current analyzed it reals harmonics, caused by distorted grid. order to solve problem, a proportional-resonant (PR) + reduced parallel repetitive control closed-loop controller in two-phase stationary frame proposed....

In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence disturbances, disturbance observer (DO) proposed estimate and compensate disturbances exactly finite time. Secondly, designed classical procedure, however, inevitable singularity appears calculating derivative virtual control. Furthermore, overcoming singularity, by adopting command filter derivative,...

This paper proposes a new trajectory tracking scheme for the constrained nonlinear underwater vehicle-manipulator system (UVMS). For overcoming unmodeled uncertainties, external disturbances, and constraints of control inputs in operation UVMS, modified <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:mrow></mml:math> controller with basic computed-torque (CTC)...

This paper aims to enhance the lateral path tracking control of autonomous vehicles (AV) in presence external disturbances. While AV technology has made significant strides, real-world driving scenarios often pose challenges such as slippery or uneven roads, which can adversely affect and reduce safety efficiency. Conventional algorithms struggle address this issue due their inability account for unmodeled uncertainties To tackle problem, proposes a novel algorithm that combines robust...

Model-predictive control (MPC) offers significant advantages in addressing constraint-related challenges and plays a pivotal role self-driving car technology. Its primary goal is to achieve precise trajectory tracking while prioritizing vehicle stability safety. However, real-time operations often face related computational demands low efficiency. To address these challenges, this paper introduces novel lateral algorithm for vehicles, which utilizes the linear complementarity problem (LCP)...

Underwater vehicle-manipulator system (UVMS) is a commonly used underwater operating equipment. Its control scheme has been the focus of researchers, as it operates in presence lumped disturbances, including modelling uncertainties and water disturbances. To address nonlinear problem UVMS, we propose robust optimal approach optimized using grey wolf optimizer (GWO). In this scheme, dynamic model UVMS deduced to linear state-space case Then, GWO algorithm optimize Riccati equation parameters...

In this paper, the design of an external rotor permanent magnet synchronous motor (ERPMSM) with integer slots at low speed and high torque is studied. Low PMSMs concentrated fractional slot (FSCW) are widely used for their efficiency, power density, simple winding form. More research attention has been paid to effects different pole combinations on pulsation, However, there little impact integral ERPMSM temperature rise vibration noise. This paper takes a 720kw 76.5RPM low-speed drum...

Purpose This study aims to solve the problem of existing metal foreign object (MFO) detecting systems, which are not sensitive small size MFO in wireless charging region electric vehicle (EV) because extremely complex signal noise process EV. Design/methodology/approach A method for detection based on principle that MFOs can cause mistuned resonance coil resonant circuit is proposed. The general scheme system design coils effective large-area EV presented. time-sharing driving and amplifying...

The cooperative triple-phase-shifted modulation (CTPS) for the isolated dual-active bridge (DAB) DC-DC converter has advantages of zero dual-DC side flow back currents and best current characteristics. However, mathematical model corresponding closed-loop control configuration DAB driven by CTPS are not presented so far. In order to solve this problem, in paper, average state space is established first time. It proven that a zero-order system it necessary construct an inner inductor loop...

To make robot avoid obstacles in 3D space, the Pheromone of Ant Colony Optimization（ACO）in Fuzzy Control Updating is put forward，the value varies with The number iterations and path-planning length by each ant . improved Transition Probability Function also proposed，which makes more sense for choosing next feasible point .This paper firstly, describes Robot Workspace Modeling its basic method, which followed introducing designing method ACO detail. At same time， comparison optimization...

An artificial intelligent grey wolf optimizer (GWO)-assisted resampling scheme is applied to the Rao-Blackwellized particle filter (RBPF) in simultaneous localization and mapping (SLAM). By doing this, we can make diversity of particles then obtain a better accuracy fast convergence realize indoor mobile robot SLAM. In addition, propose an adaptive local data association (Range-SLAM) improve computational efficiency for algorithm nearest neighbor (NN) iteration RBPF prediction. Through...

Time series forecasting is extensively applied across diverse domains. Transformer-based models demonstrate significant potential in modeling cross-time and cross-variable interaction. However, we notice that the correlation of multivariate time demonstrates multifaceted (positive negative correlations) dynamic progression over time, which not well captured by existing models. To address this issue, propose a TimeCNN model to refine interactions enhance forecasting. Its key innovation...

For solving the problem of serial manipulator autonomous path-planning, which is kinematics problem. An improved fuzzy control ant colony algorithm put forward. This solves inverse firstly, so that it can solve path-planning. The improvement conventional algorithm, A intelligent pheromone updating method added, this makes convergence increased, computing time shortened, accuracy improved. path-planning successfully solved. experiment PUMA560 solved satisfactorily by algorithm. Therefore,...