... ABSTRACT This paper investigates the fencing control issue for unmanned surface vehicles (USVs) considering the unmeasured velocity, collision avoidance and unknown external disturbances under the intermittent communication. A novel distributed fencing control algorithm is presented...

... ABSTRACT In this study, the Model Predictive Control (MPC) combined with an Improved Artificial Potential Field (IAPF) planning method is proposed for path following of an underactuated ship. Firstly, a collision-free path is planned based on IAPF. Then, the path planning problem...

... is converted into a generalized Hamiltonian framework. Inside the Hamiltonian framework, the exponential stability of the proposed velocity observer is proved using the passivity-control methodology. Meanwhile, the effectiveness and robustness of the proposed velocity observer are illustrated and validated...

... ABSTRACT To enhance a waterjet-propelled vessel's adaptability to varying sea conditions, a hybrid switching control strategy is proposed for a specific type of such vessel. This strategy automatically switches between heading maintenance and path-following control modes when sea conditions...

... ABSTRACT This paper proposes a RNN-enhanced neural network sliding mode control method for an Unmanned Surface Vessel (USV). A sliding mode control law is designed using the error dynamics equation, while RNNs approximate system nonlinearities. The control system is implemented in MATLAB S...

... ABSTRACT AUV is a useful tool in exploring the ocean and other underwater surroundings. The jettison system is the important part of the emergency system. In this paper, an emergency ejectioning device control system is proposed but in this system the depth sensor is essential sector...

... ABSTRACT Based on the emergency blowdown characteristic of X rudder AUV and the narrow channel characteristic of experiment waters, this paper proposes a method of X rudder AUV emergency blowup and tracking safe route, and designs a PID control algorithm of tracking safe line...

... planning and tracking. To increase the success rate of docking process, a docking scheme of the underwater vehicle manipulator system is proposed. Based on the docking scheme, a trajectory planning Genetic Algorithm (GA) and the fixed-time terminal sliding mode controller are designed. Simulation results...

... ABSTRACT To address the challenges of three-dimensional path following under limited rudder rate conditions and the constraints on AUV flexibility imposed by conventional line-of-sight (LOS) guidance algorithms, this study proposes a fuzzy controller with a series-parallel PID configuration...

... ABSTRACT This study addresses compromised Autonomous Underwater Vehicles (AUVs) attitude control at low surge velocities, where reduced rudder effectiveness jeopardizes precise positioning and near-field operations. A dynamic equilibrium control algorithm leveraging Model Predictive Control...

... on slamming pressures during water entry of the wedge, motivated by the need to better understand aerated impact dynamics. Controlled water entry experiments were conducted using a wedge model with a deadrise angle of 20° in both pure and aerated water. The results reveal that increasing gas volume fraction...

..., the fuzzy method and the PID algorithm are combined to develop the fuzzy PID controller, and the genetic algorithm is applied to solve the thrust distribution problem. The dedicated experiments of the DP lifting operation are carried out at Tianjin University. Comparisons between the experimental results...

... with exponential forgetting. The parameter identification algorithm can identify uncertain parameters of unmanned ships based on the actual rudder angle, speed, and motion trajectory data of unmanned ships. After obtaining the identified parameters, a nonlinear controller for unmanned ship trajectory tracking...

... system for an underactuated Unmanned Surface Vessel (USV). Based on the line-of-sight algorithm and control requirements of ships, the ship trajectory tracking control problem is modeled as a Markov decision process, designing its state space, action space, and reward function, which rewards the agent...

... in conjunction with two degrees of freedom solid body motion equations, including trim and sinkage. Two techniques—multipoint interpolation and PID control—were used to determine the self-propulsion point during the simulation. The computational results of self-propulsion are compared with the extrapolation...

... absorption control for wind-wave hybrid platforms: a generalised LQR approach Maria Luisa Celesti, Nicol´as Faedo, Giuliana Mattiazzo Marine Offshore Renewable Energy Lab, Politecnico di Torino Turin, Italy ABSTRACT Hybrid wind-wave energy conversion platforms, essential in the path towards global...

... ABSTRACT This paper investigates the possibility of the linearization for the aerodynamic load while considering the effect of the control system. Rotor thrusts which are calculated by OpenFAST were used for deriving equations of the transfer function for aero-servo-dynamic loads, and RADIS...

... during tunnel inspections. In order to cover the entire tunnel, ROVs typically adhere to a predefined path or trajectory under the guidance of a controller, as illustrated in Fig. 1. Consequently, understanding transient cable disturbances acting on ROVs during trajectory tracking within confined spaces...

...Proceedings of the Thirty-fourth (2024) International Ocean and Polar Engineering Conference Rhodes, Greece, June 16 21, 2024 Copyright © 2024 by the International Society of Offshore and Polar Engineers (ISOPE) ISBN 978-1-880653-78-4; ISSN 1098-6189 www.isope.org Level control of tension-leg...

... radius. To that end, a general problem of monitoring umbilical bend radius at the Touch Down Point is formulated as a control system design problem. A discrete-time linear model is proposed to be used as basis for model-based control system design in the application of deep-water subsea umbilical...