The Experts below are selected from a list of 45522 Experts worldwide ranked by ideXlab platform
Enzeng Dong - One of the best experts on this subject based on the ideXlab platform.
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An adaptive GPC algorithm for a vectored water-jet-based spherical Underwater Vehicle
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 2012Co-Authors: Xiaoqiong Li, Minghuan Li, Enzeng DongAbstract:All kinds of interferences have enormous negative impacts on accomplishing the control of Underwater Vehicle, especially for small one, the influences of turbulences are more fiercely and complicate. This paper proposed a generalized predictive control algorithm that can track position along the X-Y planes by controlling the propulsion vector, which can be used to a small Underwater Vehicle. The algorithm adopted the online system identification and changing variables over time which were verified based on a designed vectored water-jet-based spherical Underwater Vehicle. Based on the established objective model, the Simulations show the virtues that can track the position and resist the white noises very well.
Shuxiang Guo - One of the best experts on this subject based on the ideXlab platform.
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The computational design of a water jet propulsion spherical Underwater Vehicle
2011 IEEE International Conference on Mechatronics and Automation, 2011Co-Authors: Shuxiang Guo, Rui Yan, Xiufen Ye, Juan Du, Hongtao GaoAbstract:Underwater Vehicles have become an important tool to develop oceans. The design of the shape, hardware circuit and software of a water jet propulsion spherical Underwater Vehicle was introduced, and the characteristics of water jet pump were presented. The design of the thruster and computation of the thrust was proposed, too. A desired movement result was achieved by the designed spherical Underwater Vehicle in static water experiments. The experiments proved that the design was feasible, and the spherical Underwater Vehicle could be regarded as a carrier for further research on correlative control algorithm.
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Development and control of a vectored water jet based spherical Underwater Vehicle
2010 IEEE International Conference on Information and Automation, ICIA 2010, 2010Co-Authors: Shuxiang Guo, Xichuan Lin, Koujirou Tanaka, Seji HataAbstract:This paper presents a spherical Underwater Vehicle which uses three vectored water-jet propulsion systems. In this paper, firstly, we proposed the concept of a vectored water-jet based spherical Underwater Vehicle. Then we give the basic design of this Underwater Vehicle. The working principles of the vectored water-jet propellers is illustrated including the transformation of reference frames, the distribution of propellers and the composition of vectored propel forces. Thirdly, we give the results of simulation experiment which compares traditional PID control and BP neural network based PID control. This control experiment only focus on the horizontal motion, but it can be expanded in the other control plane easily.
Xiaoqiong Li - One of the best experts on this subject based on the ideXlab platform.
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An adaptive GPC algorithm for a vectored water-jet-based spherical Underwater Vehicle
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 2012Co-Authors: Xiaoqiong Li, Minghuan Li, Enzeng DongAbstract:All kinds of interferences have enormous negative impacts on accomplishing the control of Underwater Vehicle, especially for small one, the influences of turbulences are more fiercely and complicate. This paper proposed a generalized predictive control algorithm that can track position along the X-Y planes by controlling the propulsion vector, which can be used to a small Underwater Vehicle. The algorithm adopted the online system identification and changing variables over time which were verified based on a designed vectored water-jet-based spherical Underwater Vehicle. Based on the established objective model, the Simulations show the virtues that can track the position and resist the white noises very well.
Bin Xu - One of the best experts on this subject based on the ideXlab platform.
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neuro fuzzy control of Underwater Vehicle manipulator systems
Journal of The Franklin Institute-engineering and Applied Mathematics, 2012Co-Authors: Bin Xu, Shunmugham R. Pandian, Norimitsu Sakagami, Frederick E PetryAbstract:Abstract This paper presents an intelligent controller for Underwater Vehicle-manipulator systems (UVMS) based on the neuro-fuzzy approach. The controller is composed of fuzzy PD control with membership function tuning by linguistic hedge. A neural network compensator approximates the dynamics of the UVMS in decentralized form. The new controller has the advantages of simplicity of implementation due to decentralized design, precision, and robustness to payload variations and hydrodynamic disturbances. It has significantly low energy consumption compared to both the conventional PD and conventional fuzzy control methods. The effectiveness of the proposed controller is illustrated by results of simulations for a six degrees of freedom autonomous Underwater Vehicle with a three degrees of freedom on-board manipulator.
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Neuro-fuzzy control of Underwater Vehicle-manipulator systems
Journal of the Franklin Institute, 2012Co-Authors: Bin Xu, Shunmugham R. Pandian, Norimitsu Sakagami, Fred PetryAbstract:This paper presents an intelligent controller for Underwater Vehicle-manipulator systems (UVMS) based on the neuro-fuzzy approach. The controller is composed of fuzzy PD control with membership function tuning by linguistic hedge. A neural network compensator approximates the dynamics of the UVMS in decentralized form. The new controller has the advantages of simplicity of implementation due to decentralized design, precision, and robustness to payload variations and hydrodynamic disturbances. It has significantly low energy consumption compared to both the conventional PD and conventional fuzzy control methods. The effectiveness of the proposed controller is illustrated by results of simulations for a six degrees of freedom autonomous Underwater Vehicle with a three degrees of freedom on-board manipulator. © 2012 The Franklin Institute.
Minghuan Li - One of the best experts on this subject based on the ideXlab platform.
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An adaptive GPC algorithm for a vectored water-jet-based spherical Underwater Vehicle
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 2012Co-Authors: Xiaoqiong Li, Minghuan Li, Enzeng DongAbstract:All kinds of interferences have enormous negative impacts on accomplishing the control of Underwater Vehicle, especially for small one, the influences of turbulences are more fiercely and complicate. This paper proposed a generalized predictive control algorithm that can track position along the X-Y planes by controlling the propulsion vector, which can be used to a small Underwater Vehicle. The algorithm adopted the online system identification and changing variables over time which were verified based on a designed vectored water-jet-based spherical Underwater Vehicle. Based on the established objective model, the Simulations show the virtues that can track the position and resist the white noises very well.
