This research is based on the application of new theories in wheeled robot trajectory following. The following control method system implemented using a hybrid controller, as for track slip and resistance parts, external disturbance estimator (disturbance observer) used to complete. controller consists two parts. first part uses Kinematics Dynamics equations form basic controller. designed reduce tracking errors. second Cerebellar Model Articulation Controller (CMAC), which intelligent...

For the purpose of interpreting and controlling irregular yaw motion very large ships in waves, both analytical numerical methods are employed this study. A nonlinear dynamic model considering behaviors human navigator for yawing system regular longitudinal waves is constructed analyzed based on bifurcation chaos theory. The results analysis indicate existence chaotic regions system, ships. Furthermore, to mitigate phenomenon subject ship, a concise robust integrator backstepping algorithm,...

During the mission at sea, ship steering control to yaw motions of intelligent autonomous surface vessel (IASV) is a very challenging task. In this paper, quantum neural network (QNN) which takes advantages learning capabilities and fast rate proposed act as foundation feedback hierarchy module IASV planning strategy. The numeric simulations had shown that QNN controller could improve performance significantly comparing with conventional networks. Furthermore, practical experiment BAICHUAN...

During the mission at sea, yaw motion of smart autonomous surface vessel (SASV) is always subject to external disturbances. These issues make design a robust controller for steering autopilot system quite challenging task. This paper focuses on utilization closed-loop shaping filter (CSF) improve SASV L2 gain control scheme. First, mathematical model proposed and parameters are obtained by recursive least squares method (RLSM) based turning test. Then CSF nonlinear described, stability...

To promise the high fidelity of path following control for underactuated ship from aspect nautical practice, this paper develops a nonlinear feedback-based scheme with an improved compound line-of-sight (ICLOS) guidance law, which has energy-saving and efficient performance. Based on methodology disturbance observer method reduced-order extended state (ESO), sideslip angle is developed online estimation time-varying angel caused by external disturbances, controller incorporated to avert...

This paper describes a concise robust controller design of integrated rudder and fin control system in use the closed loop gain shaping algorithm (CGSA) strategy. Compared with arbitrary selection weighting function H ∞ mixed sensitivity procedures, CGSA methods provided relatively more straightforward method. Simulations were described that overall performance each interaction between them. Hence, it can be concluded scheme is very suitable to present indeed feasible for future practical...

In this note, a novel multitechnique concise robust control scheme, based on the mirror mapping technique (MMT), closed-loop gain shaping algorithm (CGSA), Smith predictor (SP), and nonlinear feedback (NFT), is proposed for pressure of liquefied natural gas (LNG) carrier insulation containment space. Firstly, kind integral unstable time-delay model obtained by linearizing maintenance system around its equilibrium. By using MMT CGSA, one acquires corresponding stable linear designed...