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Control of complex robotic systems: Challenges, design and experiments

Ahmed Chemori
2017 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)  
The proposed control schemes are illustrated through different real experimental platforms in four chosen research fields in robotics: underactuated robotics, parallel robotics, humanoid robotics and underwater  ...  Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because of the highly nonlinear behaviour of robots, the complexity of their dynamics, the under-actuation  ...  Underactuated robotics For sake of validation of the control schemes in underactuated robotics, the platform of an Inertia Wheel Inverteed Pendulum (IWIP) will be used.  ... 
doi:10.1109/mmar.2017.8046900 dblp:conf/mmar/Chemori17 fatcat:sl6ltxyii5aallxbnks4467zou

Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle

Nur Afande Ali Hussain, Syed Saad Azhar Ali, Pere Ridao, Patryk Cieslak, Ubaid M. Al-Saggaf
2020 IEEE Access  
This paper presents the development of unmanned marine robotic control modelling and control synthesis using a coupled multivariable underactuated nonlinear adaptive U-model approach.  ...  The proposed controller was developed using thru an open source robot operating system (ROS) platform.  ...  Based on the literature, a variety of approaches are available when designing a nonlinear controller for an unmanned marine robotics platform, especially for the underactuated model and these approaches  ... 
doi:10.1109/access.2020.3037122 fatcat:76jyntlcabdrppqzqivw4l7pmy

Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot

Zhimin Liu, Hanxu Sun, Yansheng Li, Qingxuan Jia, Ming Chu
2016 Mathematical Problems in Engineering  
The finite time controller is proposed to solve the point stabilization problem for a novel underwater spherical roving robot (BYSQ-3) in two-dimensional space.  ...  The finite time design scheme is a new method; the main advantage of this control scheme is that it can steer the robot to the origin in fast converging times without excessive control effort.  ...  Acknowledgments The authors would like to thank the support of China National Natural Science Foundation (51175048) for the research.  ... 
doi:10.1155/2016/8606570 fatcat:az7q6ehhurfexochhdths332ja

On the Design of Underactuated Finger Mechanisms for Robotic Hands [chapter]

Pierluigi Rea
2011 Advances in Mechatronics  
Scheme for the pressure control of the robotic hand prototype finger.  ...  This class of mechanical systems can be found in real life; examples of such systems include, but not limited to, surface vessels, spacecraft, underwater vehicles, helicopters, road vehicles, and robots  ... 
doi:10.5772/24304 fatcat:eqdkohyypvahrbdtg73fvp2eby

Recent Advancements in Autonomous Robots and Their Technical Analysis

Boni Liu, Bhawani Shankar Chowdhry
2021 Mathematical Problems in Engineering  
The autonomous robots include unmanned aerial vehicle (UAV), unmanned underwater vehicle (UUV), and unmanned ground vehicle (UGV).  ...  Finally, the paper formulates the limitations of the recently proposed techniques in the form of a table for each vehicle.  ...  control of robotic search and rescue system based on an immunocontrol framework UGV with navigation systems (1) e communication is performed using a Zigbee module, which is sluggish and thus brings time  ... 
doi:10.1155/2021/6634773 fatcat:low253idbbfedeuuan4zqx62re

Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO [chapter]

Ji-Hong Li, Sung-Kook Park, Seung-Sub Oh, Jin-Ho Suh, Gyeong-Hwan Yoon, Myeong-Sook Baek
2011 Autonomous Underwater Vehicles  
From control point of view, this is a typical underactuated system.  ...  Introduction P-SURO(PIRO-Smart Underwater RObot) is a hovering-type test-bed autonomous underwater vehicle (AUV) for developing various underwater core technologies .  ...  Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO, Autonomous Underwater Vehicles, Mr.  ... 
doi:10.5772/24620 fatcat:kglntgwz55ggxctm7rsyd3usua


Zainah Md. Zain, Nur Fadzillah Harun
2015 Jurnal Teknologi  
Graphical abstract Abstract A nonlinear control method is considered for stabilizing all attitudes and positions (x, y or z) of an underactuated X4-AUV with four thrusters and six degrees-of-freedom (DOFs  ...  Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at a desired (x-, y-or z-) position of the vehicle.  ...  Acknowledgement The authors would like to thank for the support given  ... 
doi:10.11113/jt.v74.4804 fatcat:de3daau2czbe5fmombqhcpelkm

Advanced underwater acoustic networking and cooperation of multiple marine robots

Vladimir Djapic, Wenjie Dong, Anthony Jones, Gianni Cario, Alessandro Casavola, Marco Lupia, Claudio Rosace, Petrika Gjanci, Roberto Petroccia, Chiara Petrioli, Daniele Spaccini, Domenico Tommaselli
2015 OCEANS 2015 - Genova  
Robust and reliable distributed networking protocols have to be developed and implemented to enable an efficient sharing of data and control messages among heterogeneous surface and underwater platforms  ...  To enable such a heterogeneous network three main research areas have been blended: 1) communications, 2) networking, and 3) decentralized cooperative localization and control.  ...  Formation control of heterogeneous surface and underwater robots has also been recognized as an important topic to address.  ... 
doi:10.1109/oceans-genova.2015.7458713 fatcat:qxe34dkvjjdb5eh5kbpuhmujm4

Author Index

2006 2006 14th Mediterranean Conference on Control and Automation  
Systems Biology of Group Decision Making TP TP Pavlov, A. An Optimal Guidance Scheme for Cross- track Control of Underactuated Underwater Vehicles FM4-2 Peng, K.  ...  Switching Solution for Multiple-models Control Systems WLA2-2 Pettersen, K. Y. An Optimal Guidance Scheme for Cross- track Control of Underactuated Underwater Vehicles FM4-2 Petz, R.  ... 
doi:10.1109/med.2006.328715 fatcat:rjjaot7sdzdsxe2ljxq56lfsdu

Mechanics and Control of Swimming: A Review

J.E. Colgate, K.M. Lynch
2004 IEEE Journal of Oceanic Engineering  
The bodies and brains of fish have evolved to achieve control objectives beyond the capabilities of current underwater vehicles.  ...  This paper has two objectives: 1) to review clues to artificial swimmer design taken from fish physiology and 2) to formalize and review the control problems that must be solved by a robot fish.  ...  Anderson and Chhabra [3] demonstrate dramatic increases in yaw rate during turning maneuvers for a robotic tuna as compared to a conventional underwater vehicle.  ... 
doi:10.1109/joe.2004.833208 fatcat:wppbtzskqrdvfhkcj7kjgc4qra

Set-based path following and obstacle avoidance for underwater snake robots

A. M. Kohl, S. Moe, E. Kelasidi, K. Y. Pettersen, J. T. Gravdahl
2017 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
This article presents a set-based guidance strategy for path following with obstacle avoidance for underwater snake robots conducting planar sinusoidal motion.  ...  The guidance system is shown to fulfil the control objectives at a kinematic level. We present new test results that validate the set-based guidance scheme for the first time experimentally.  ...  with a guidance scheme for underwater snake robots, which has been extended to enable a choice of direction.  ... 
doi:10.1109/robio.2017.8324582 dblp:conf/robio/KohlMKPG17 fatcat:akjaxyqgejgltn5zfte5unp7su

2020 Index IEEE Transactions on Control Systems Technology Vol. 28

2020 IEEE Transactions on Control Systems Technology  
., +, TCST Sept. 2020 2021-2028 Autonomous underwater vehicles A Robust Predictive Control Approach for Underwater Robotic Vehicles.  ...  ., +, TCST Sept. 2020 1940-1947 A Robust Predictive Control Approach for Underwater Robotic Vehicles.  ...  Optimal Detection Schemes for Multiplicative Faults in Uncertain Systems With Application to Rolling Mill Processes. Li, L., +, 2432 -2444  ... 
doi:10.1109/tcst.2020.3047034 fatcat:iin2gzukmbadhbln2qf25c4v6a

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems [article]

Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos
2019 arXiv   pre-print
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles.  ...  We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object while avoiding significant constraints and limitations such as: kinematic and representation  ...  Dimarogonas, “Unsupervised online system identification for underwater roboticA nonlinear model predictive control scheme for cooperative manipu- vehicles,” IEEE Journal of  ... 
arXiv:1906.09563v2 fatcat:f3goqm7uyrgjtn5u3ucy7m7iqi

Robust Formation Control for Multiple Underwater Vehicles

Charalampos P. Bechlioulis, Fotis Giagkas, George C. Karras, Kostas J. Kyriakopoulos
2019 Frontiers in Robotics and AI  
This paper addresses the distance-based formation control problem for multiple Autonomous Underwater Vehicles (AUVs) in a leader-follower architecture.  ...  The control signal of each vehicle is calculated based on the relative position of its neighbors and its own velocity only, which can be easily acquired by the onboard sensors without necessitating for  ...  SIMULATION RESULTS We consider a leader-follower scheme composed of five identical underwater robotic vehicles.  ... 
doi:10.3389/frobt.2019.00090 pmid:33501105 pmcid:PMC7805625 fatcat:gxpfy4zhq5bnpk42t4pd5wqeaq

Underwater Robots Part II: Existing Solutions and Open Issues [chapter]

Lapierre Lionel
2006 Mobile Robots: towards New Applications  
Naval architecture This development assumes the principle of superposition that is, for most marine control application, a good approximation.  ...  This paper constitutes the second part of a general overview of underwater robotics. The first part is titled: Underwater Robots Part I: current systems and problem pose.  ...  functionalities in an underwater robotic system.  ... 
doi:10.5772/4698 fatcat:3hwhv6kluzhszdohqqoaifdny4
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