A survey on uninhabited underwater vehicles (UUV)

ASME Early Career Technical Conference, ASME ECTC, October 2-3, 2009, Tuscaloosa, Alabama, USAThis work presents the initiation of our underwater robotics research which will be focused on underwater vehicle-manipulator systems. Our aim is to build an underwater vehicle with a robotic manipulator which has a robust system and also can compensate itself under the influence of the hydrodynamic effects. In this paper, overview of the existing underwater vehicle systems, thruster designs, their dynamic models and control architectures are given. The purpose and results of the existing methods in underwater robotics are investigated

Variance-constrained multiobjective control and filtering for nonlinear stochastic systems: A survey

The multiobjective control and filtering problems for nonlinear stochastic systems with variance constraints are surveyed. First, the concepts of nonlinear stochastic systems are recalled along with the introduction of some recent advances. Then, the covariance control theory, which serves as a practical method for multi-objective control design as well as a foundation for linear system theory, is reviewed comprehensively. The multiple design requirements frequently applied in engineering practice for the use of evaluating system performances are introduced, including robustness, reliability, and dissipativity. Several design techniques suitable for the multi-objective variance-constrained control and filtering problems for nonlinear stochastic systems are discussed. In particular, as a special case for the multi-objective design problems, the mixed H 2 / H ∞ control and filtering problems are reviewed in great detail. Subsequently, some latest results on the variance-constrained multi-objective control and filtering problems for the nonlinear stochastic systems are summarized. Finally, conclusions are drawn, and several possible future research directions are pointed out

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance

Modified PSO based PID Sliding Mode Control using Improved Reaching Law for Nonlinear systems

In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second order nonlinear differential equations with unknown parameters modified particle swarm intelligent optimization (MPSO) is used for the optimized parameters. This paper throws light on the sliding surface design, on the proposed power rate exponential reaching law, parameters optimization using modified particle swarm optimization and highlights the important features of adding an integral term in the sliding mode such as robustness and higher convergence, through extensive mathematical modeling. Siding mode control law is derived using Lyapunov stability approach and its asymptotic stability is proved mathematically and simulations showing its validity. MPSO PID-type Sliding mode control will stabilize the highly nonlinear systems, will compensate disturbances and uncertainty and reduces tracking errors. Simulations and experimental application is done on the non-linear systems and are presented to make a quantitative comparison.Comment: arXiv admin note: substantial text overlap with arXiv:2207.1112

State of the art of control schemes for smart systems featuring magneto-rheological materials

This review presents various control strategies for application systems utilizing smart magneto-rheological fluid (MRF) and magneto-rheological elastomers (MRE). It is well known that both MRF and MRE are actively studied and applied to many practical systems such as vehicle dampers. The mandatory requirements for successful applications of MRF and MRE include several factors: advanced material properties, optimal mechanisms, suitable modeling, and appropriate control schemes. Among these requirements, the use of an appropriate control scheme is a crucial factor since it is the final action stage of the application systems to achieve the desired output responses. There are numerous different control strategies which have been applied to many different application systems of MRF and MRE, summarized in this review. In the literature review, advantages and disadvantages of each control scheme are discussed so that potential researchers can develop more effective strategies to achieve higher control performance of many application systems utilizing magneto-rheological materials

A CENTER MANIFOLD THEORY-BASED APPROACH TO THE STABILITY ANALYSIS OF STATE FEEDBACK TAKAGI-SUGENO-KANG FUZZY CONTROL SYSTEMS

The aim of this paper is to propose a stability analysis approach based on the application of the center manifold theory and applied to state feedback Takagi-Sugeno-Kang fuzzy control systems. The approach is built upon a similar approach developed for Mamdani fuzzy controllers. It starts with a linearized mathematical model of the process that is accepted to belong to the family of single input second-order nonlinear systems which are linear with respect to the control signal. In addition, smooth right-hand terms of the state-space equations that model the processes are assumed. The paper includes the validation of the approach by application to stable state feedback Takagi-Sugeno-Kang fuzzy control system for the position control of an electro-hydraulic servo-system

Adaptive interval type-2 fuzzy logic systems for vehicle handling enhancement by new nonlinear model of variable geometry suspension system

This research examines the emerging role of adaptive interval type-2 fuzzy logic systems (AIT2FLS) versus adaptive type-1 fuzzy logic system (AT1FLS) in vehicle handling by a new nonlinear model of the variable geometry suspension system (VGS) as a vehicle active suspension system. A proper controller is needed in order to have soft response and robustness against challenging vehicle maneuvers. Two controllers, including AT1FLS and AIT2FLS have been used in the paper. The proposed AIT2FLS can efficiently handle system uncertainties, especially in the presence of most difficult challenging vehicle maneuvers in comparison with AT1FLS. The interval type-2 fuzzy adaptation law adjusts the consequent parameters of the rules constructed on the Lyapunov synthesis approach. For this purpose, the kinematic equations are obtained for the vehicle double wishbone suspension system and they are substituted in a nonlinear vehicle handling model with eight degrees of freedoms (8DOFs). Thereby, a new nonlinear model for the analysis of VGS is obtained. The results indicate that between the two controllers, the proposed AIT2FLS has better overall vehicle handling, robustness and soft response

Rapid-convergent nonlinear differentiator

A nonlinear differentiator being fit for rapid convergence is presented, which is based on singular perturbation technique. The differentiator design can not only sufficiently reduce the chattering phenomenon of derivative estimation by introducing a continuous power function, but the dynamical performances are also improved by adding linear correction terms to the nonlinear ones. Moreover, strong robustness ability is obtained by integrating nonlinear items and the linear filter. The merits of the rapid-convergent differentiator include the excellent dynamical performances, restraining noises sufficiently, avoiding the chattering phenomenon and being not based on system model. The theoretical results are confirmed by computer simulations and an experiment.Comment: 26 pages, 15 figure