scholarly journals Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

Automatica ◽  
2021 ◽  
Vol 128 ◽  
pp. 109554
Author(s):  
Alireza Mohammadi ◽  
Mark W. Spong
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Path Following Control

scholarly journals Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments

2017 ◽  
Vol 33 (3) ◽  
pp. 610-628 ◽  
Author(s):  
Eleni Kelasidi ◽  
Pal Liljeback ◽  
Kristin Y. Pettersen ◽  
Jan Tommy Gravdahl
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Path Following Control ◽  
Theory And Experiments ◽  
Snake Robots

Line-of-Sight-Based Guidance and Adaptive Neural Path-Following Control for Sailboats

2020 ◽  
Vol 45 (4) ◽  
pp. 1177-1189 ◽  
Author(s):  
Yingjie Deng ◽  
Xianku Zhang ◽  
Guoqing Zhang
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Path Following Control

scholarly journals Path Following Control for Underactuated Airships with Magnitude and Rate Saturation

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7176
Author(s):  
Huabei Gou ◽  
Xiao Guo ◽  
Wenjie Lou ◽  
Jiajun Ou ◽  
Jiace Yuan
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Trial And Error ◽  
Guidance Law ◽  
Path Following Control ◽  
Control Scheme ◽  
Markov Decision ◽  
Optimal Action ◽  
Action Policy ◽  
Policy Optimization

This paper proposes a reinforcement learning (RL) based path following strategy for underactuated airships with magnitude and rate saturation. The Markov decision process (MDP) model for the control problem is established. Then an error bounded line-of-sight (LOS) guidance law is investigated to restrain the state space. Subsequently, a proximal policy optimization (PPO) algorithm is employed to approximate the optimal action policy through trial and error. Since the optimal action policy is generated from the action space, the magnitude and rate saturation can be avoided. The simulation results, involving circular, general, broken-line, and anti-wind path following tasks, demonstrate that the proposed control scheme can transfer to new tasks without adaptation, and possesses satisfying real-time performance and robustness.

scholarly journals Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

2021 ◽  
Vol 28 (2) ◽  
pp. 18-26
Author(s):  
Ligang Li ◽  
Zhiyuan Pei ◽  
Jiucai Jin ◽  
Yongshou Dai
Keyword(s):  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Sideslip Angle ◽  
Unmanned Surface Vehicle ◽  
Curve Path ◽  
Guidance Law ◽  
Path Following Control

Abstract In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.

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