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Guidance And Control Of Ocean Vehicles

This paper is concerned with a Takagi–Sugeno (T–S) fuzzy dynamic positioning controller design for an unmanned marine vehicle (UMV) in network environments. Network-based T–S fuzzy dynamic positioning system (DPS) models for the UMV are first established. Then, stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T–S fuzzy DPS and that of the controller. The proposed stabilization criteria can stabilize states of the UMV. The dynamic positioning performance analysis verifies the effectiveness of the networked modeling and the controller design.

Network-Based T–S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles

This paper surveys the recent advances in marine mechatronic systems from a control perspective. The survey is by no means exhaustive, but introduces some notable results in marine control area. New developments in terms of control system designs for surface vessels, underwater robotic vehicles, profiling floats, underwater gliders, wave energy converters, and offshore wind turbines are briefly reviewed. In addition, a few avenues for future research are identified.

Advanced Control in Marine Mechatronic Systems: A Survey

This paper proposes a novel fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using the quantized feedback sliding mode control technique. Due to the complex ocean environment, the unmanned marine vehicles are modeled as the Takagi-Sugeno fuzzy system with unknown membership functions. When the membership functions are not available, traditional sliding mode control technique becomes infeasible. To tackle this difficulty, a novel quantized sliding mode control strategy based on switching mechanism is designed to compensate for thruster faults effects. In addition, the phenomenon of time-varying delay leads to conservativeness of the existing dynamic quantization parameter adjustment strategy. Then a larger quantization parameter adjustment range, by taking time delay and fault factor into account, is given. Combining the novel sliding mode controller design and the improved dynamic quantization parameter adjustment strategy, the dynamic positioning of unmanned marine vehicles with thruster faults and quantization can be maintained. Finally, the effectiveness of the proposed method is verified through the simulation comparison results.

Fault Tolerant Control for Dynamic Positioning of Unmanned Marine Vehicles Based on T-S Fuzzy Model With Unknown Membership Functions

Vehicle dynamics and the need to satisfy ride quality requirements have long been recognized as crucial to the commercial success of passenger carrying transportation systems. Design concepts for maglev systems are no exception. The work reported here was undertaken with the intention of summarizing information that has been accumulated worldwide and that is relevant to dynamic stability of repulsive-force maglev systems, assimilating that information, and gaining an understanding of the factors that influence that stability. Included in the paper is a discussion and comparison of results acquired from some representative tests of large-scale vehicles on linear test tracks, together with analytical and laboratory-scale investigations of stability and dynamics of EDS systems. The paper also summarizes the R and D activities at Argonne National Laboratory since 1991 to study the nature of the forces that are operative in an EDS system and the dynamic stability of such systems.

Review of dynamic stability of repulsive-force maglev suspension systems

In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in their drift and input matrices. The proposed controller compensates the overall system uncertainties and achieves asymptotic tracking where only the sign of the leading minors of the input gain matrix is assumed to be known. A Lyapunov based argument backed up with an integral inequality is applied to prove stability of the proposed controller and asymptotic convergence of the error signals. Simulation results are presented in order to illustrate the viability of the proposed method.

An Asymptotically Stable Continuous Robust Controller for a Class of Uncertain MIMO Nonlinear Systems

This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of the control formulation, we designed a nonlinear, model-free observer which enables the observer-controller couple to achieve asymptotic tracking. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.

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Observer based output feedback tracking control of dynamically positioned surface vessels

In this study, a robust adaptive controller is designed to be used in an active tuned mass damper system that can be used to damp undesired vibrations that occurred on the multistory buildings duri...

A robust adaptive control design for active tuned mass damper systems of multistory buildings

In this study, a nonlinear adaptive controller that can be used to control a magnetic levitation (maglev) is designed. The designed controller is equipped with a nonlinear velocity observer to prov...

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Papers

An Asymptotically Stable Continuous Robust Controller for a Class of Uncertain MIMO Nonlinear Systems

Observer based output feedback tracking control of dynamically positioned surface vessels

A robust adaptive control design for active tuned mass damper systems of multistory buildings

An observer-based adaptive control design for the maglev system:

Periodic disturbance estimation based adaptive robust control of marine vehicles