Robust adaptive tracking control of underactuated ODINs under stochastic sea loads
MetadataShow full item record
Although environmental loads induced by waves, wind, and ocean currents on marine vessels are naturally stochastic, all existing works on controlling these vehicles treat these loads as deterministic. This treatment deteriorates the control performance in a practical implementation. This paper presents a method to design controllers that force an underactuated omni-directional intelligent navigator (ODIN), a spherical underwater vehicle, to track a reference trajectory in two-dimensional space. Motivated by the vehicle's steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for stability and control of stochastic systems, potential projection functions, and backstepping and Lyapunov's direct methods. Simulations are included to illustrate the effectiveness of the proposed results.
Showing items related by title, author, creator and subject.
Approaches to identification and analysis of control patterns in motorcycle emergency braking responseRosalie, Simon ; Nugent, M.; Huertas-Leyva, P.; Savino, G. (2017)A new research area explores the relationship between motorcycle rider muscle activation patterns and vehicle kinematics and kinetics to understand the interaction between human control inputs and vehicle kinematic outcome. ...
Determinants of occupational environment and heavy vehicle crashes in Western Australia: a case control studyMeuleners, Lynn; Fraser, Michelle; Govorko, M.; Stevenson, M. (2015)Objective: To determine the association between a heavy vehicle driver's work environment, including fatigue-related characteristics, and the risk of a crash in Western Australia. Methods: This case–control study included ...
The Heavy Vehicle Study: a case-control study investigating risk factors for crash in long distance heavy vehicle drivers in AustraliaStevenson, M.; Sharwood, L.; Wong, K.; Elkington, J.; Meuleners, Lynn; Ivers, R.; Grunstein, R.; Williamson, A.; Haworth, N.; Norton, R. (2010)Background: Heavy vehicle transportation continues to grow internationally; yet crash rates are high, and the risk of injury and death extends to all road users. The work environment for the heavy vehicle driver poses ...