Lionel Lapierre

Bio: Lionel Lapierre is an academic researcher from University of Montpellier. The author has contributed to research in topics: Mobile robot & Backstepping. The author has an hindex of 22, co-authored 73 publications receiving 2556 citations. Previous affiliations of Lionel Lapierre include Centre national de la recherche scientifique & Instituto Superior Técnico.

Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles

Abstract: Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.

Adaptive, non-singular path-following control of dynamic wheeled robots

Abstract: This paper derives a new type of control law to steer the dynamic model of a wheeled robot of unicycle type along a desired spatial path. The methodology adopted for path following control deals explicitly with vehicle dynamics and plant parameter uncertainty. Furthermore, it overcomes stringent initial condition constraints that are present in a number of path following control strategies described in the literature. This is done by controlling explicitly the rate of progression of a "virtual target" to be tracked along the path, thus bypassing the problems that arise when the position of the virtual target is simply defined by the projection of the actual vehicle on that path. The nonlinear adaptive control law proposed yields convergence of the (closed loop system) path following error trajectories to zero. Controller design relies on Lyapunov theory and backstepping techniques. Simulation results illustrate the performance of the control system proposed.

Robust Nonlinear Path-Following Control of an AUV

Abstract: This paper develops a robust nonlinear controller that asymptotically drives the dynamic model of an autonomous underwater vehicle (AUV) onto a predefined path at a constant forward speed. A kinematic controller is first derived, and extended to cope with vehicle dynamics by resorting to backstepping and Lyapunov-based techniques. Robustness to vehicle parameter uncertainty is addressed by incorporating a hybrid parameter adaptation scheme. The resulting nonlinear adaptive control system is formally shown and it yields asymptotic convergence of the vehicle to the path. Simulations illustrate the performance of the derived controller .

Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control

Abstract: The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed.

Total quality control

Abstract: It is considered by many that for industry to prosper into the 1990s it must adopt the principles of total quality control. These principles offer the opportunity to tap previously unused brainpower within an organisation, and to achieve what our potential overseas customers expect of us, that is, a guaranteed 100 per cent good product. This paper presents one company's ideas and methods of implementation. Tqc is very much a people thing, and requires employees at all levels to become familiar with, and practise basic charting and problem solving techniques. Economics do not allow us to load up our organisations with service departments. Quality must be controlled by the people at the workface (a).

Guidance And Control Of Ocean Vehicles

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