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Yongyong Zhao, Jinghua Wang, Guohua Cao and Xu Yao
This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulation,...
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Chengxi Wu, Yuewei Dai, Liang Shan and Zhiyu Zhu
This paper focuses on developing a data-driven trajectory tracking control approach for autonomous underwater vehicles (AUV) under uncertain external disturbance and time-delay. A novel model-free adaptive predictive control (MFAPC) approach based on a f...
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Quang-Ngoc Le, Hyeong-Mo Park, Yeongjin Kim, Huy-Hoang Pham, Jai-Hyuk Hwang and Quoc-Viet Luong
Aircraft landing gear equipped with a magnetorheological (MR) damper is a semi-active system that contains nonlinear behavior, disturbances, uncertainties, and delay times that can have a huge impact on the landing?s performance. To solve this problem, t...
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Long Chen, Diju Gao and Qimeng Xue
Reducing energy consumption and carbon emissions from ships is a major concern. The development of hybrid technologies offers a new direction for the rational distribution of energy. Therefore, this paper establishes a torque model for internal combustio...
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Ismaila A. Oyehan, Ajiboye S. Osunleke and Olanrewaju O. Ajani
The dynamics of a quadruple tank system (QTS) represent an extensive class of multivariate nonlinear uncertain systems found in the industry. It has been established that changes in split fractions affect the transmission zero location, thereby altering ...
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Wei Li, Jun Zhang, Fang Wang and Hanyun Zhou
The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this paper m...
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Ali S. Haider, Kush Bubbar and Alan McCall
Achieving energy maximizing control of a Wave Energy Converter (WEC) not only needs a comprehensive dynamic model of the system?including nonlinear hydrodynamic effects and nonlinear characteristics of Power Take-Off (PTO)?but to treat the entire system ...
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Huixuan Fu, Wenjing Yao, Ricardo Cajo and Shiquan Zhao
The motion of unmanned surface vehicles (USVs) is frequently disturbed by ocean wind, waves, and currents. A poorly designed controller will cause failures and safety problems during actual navigation. To obtain a satisfactory motion control performance ...
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Cihan Ates, Dogan Bicat, Radoslav Yankov, Joel Arweiler, Rainer Koch and Hans-Jörg Bauer
In this study, we propose a population-based, data-driven intelligent controller that leverages neural-network-based digital twins for hypothesis testing. Initially, a diverse set of control laws is generated using genetic programming with the digital tw...
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Songtao Zhang, Peng Zhao, Manhai Gui and Lihua Liang
Among the commonly used ship-stabilizing devices, the fin stabilizer is the most effective. Since the lift force of the conventional fin stabilizer is proportional to the square of the incoming flow velocity, it has a better anti-rolling effect at higher...
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