A5033411881- Adaptive Control of Nonlinear Systems
- Maritime Navigation and Safety
- Control and Dynamics of Mobile Robots
- Underwater Vehicles and Communication Systems
- Robotic Path Planning Algorithms
- Guidance and Control Systems
- Ship Hydrodynamics and Maneuverability
- Stability and Control of Uncertain Systems
- Distributed Control Multi-Agent Systems
- Advanced Algorithms and Applications
- Adaptive Dynamic Programming Control
- Target Tracking and Data Fusion in Sensor Networks
- Electric Motor Design and Analysis
- Maritime Security and History
- Advanced Control Systems Optimization
- Hydraulic and Pneumatic Systems
- Energy Load and Power Forecasting
- Inertial Sensor and Navigation
- Vehicle Dynamics and Control Systems
- Advanced Control Systems Design
- Advanced Sensor and Control Systems
- Magnetic Bearings and Levitation Dynamics
- Advanced Adaptive Filtering Techniques
- Fluid Dynamics Simulations and Interactions
- Dynamics and Control of Mechanical Systems
Dalian Maritime University
2015-2024
Dalian University of Technology
2021-2024
College of Marin
2022-2024
China State Construction Engineering (China)
2022-2023
Institute of Navigation
2018
Kinokuniya
2018
Peking University
2016
In the presence of modeling uncertainties and input saturation, this paper proposes a practical adaptive sliding mode control scheme for an underactuated unmanned surface vehicle (USV) using neural network, auxiliary dynamic system, backstepping technique. First, radial basis function network with minimum learning parameter method (MLP) is constructed to online approximate uncertain system dynamics, which uses single instead all weights learning, leading reduction in computational burdens....
By deploying unmanned surface vehicles (USVs), the efficiency and reliability of mission execution can be improved. This paper is concerned with problem formation autonomous navigation system (FANS) for USVs. The decision layer composed path planning subsystem control to realize fast effective system. FANS constructed by leader-follower structure distributed strategy, which make individuals in have certain autonomy. dynamic domain tunable marching square algorithm proposed not only adjust...
This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from general propeller-rudder device, its essence vector thruster. Therefore, first, through various assumptions simplification, three-degree freedom (DOFs) planar motion model USV established. Then, classical line-of-sight (LOS) strategy improved by adaptive sideslip angle time-varying lookahead...
Dynamic information such as the position and velocity of target detected by marine radar is frequently susceptible to external measurement white noise generated oscillations an unmanned surface vehicle (USV) target. Although Sage-Husa adaptive Kalman filter (SHAKF) has been applied tracking field, precision stability SHAKF remain be improved. In this paper, a square root robust (SR-SHARKF) algorithm together with constant jerk model proposed, which can not only solve problem filtering...
This paper presents a complete scheme for research on the three degrees of freedom model and response vector propulsion an unmanned surface vehicle. The object this is “Lanxin”, vehicle (7.02 m × 2.6 m), which equipped with single device. First, “Lanxin” related field experiments (turning test zig-zag test) are introduced experimental data collected through various sensors. Then, thrust thruster estimated by empirical formula method. Third, using hypothesis simplification, USV deduced...
The interplay between tumor cells and mesenchymal stem (MSCs) within microenvironment plays a significant role in development, thus might be exploited for therapeutic intervention. In this study, we isolated MSCs from normal gingival tissue (GMSCs), detected the effect of GMSCs on oral cancer via direct co-culture indirect systems. cell proliferation assay showed that could inhibit growth cells. Conditioned medium derived (GMSCs-CM) also exerted an anticancer effect, which indicates soluble...
The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic high speed, course controller with fast convergence speed proposed. idea MMG separate modeling used to establish three‐DOF planar motion USV, simplified as a model. Then based on field experiments, parameters are obtained by method system identification. Unlike ordinary ships, advantages small size, so needs strong robustness. Based theory...
This paper deals with the problem of formation collision avoidance for unmanned surface vehicles (USVs). Compared generalship formation, system (FCAS) needs better responsiveness and stability because faster speed smaller volume USVs. A method based on finite control set model predictive is proposed to solve this problem. The novelty that it can quickly avoid obstacles reach destination in accordance dynamics each vessel without prior knowledge environment reference trajectory. thruster...
In order to simultaneously address the issues of ship operating area limitation, unknown time-varying disturbances, immeasurable speed, dynamics, and input saturation, this paper investigates position-constrained dynamic positioning output feedback control, taking thruster system dynamics into account. Firstly, a barrier Lyapunov function (BLF) is utilized limit position inside system’s acceptable working range error. Second, set total disturbance, which made up disturbances further handled...
In recent years, unmanned surface vehicles (USVs) have received notable attention because of their many advantages in civilian and military applications. To improve the autonomy USVs, this paper describes a complete automatic navigation system (ANS) with path planning subsystem (PPS) collision avoidance (CAS). The PPS based on dynamic domain tunable fast marching square (DTFMS) method is able to build an environment model from real electronic chart, where both static obstacles are well...