Nonlinear Model-Based Tracking Control of Underwater Vehicles With Three Degree-of-Freedom Fully Coupled Dynamical Plant Models: Theory and Experimental Evaluation

IEEE Transactions on Control Systems Technology ◽

10.1109/tcst.2017.2665974 ◽

2018 ◽

Vol 26 (2) ◽

pp. 404-414 ◽

Author(s):

Stephen C. Martin ◽

Louis L. Whitcomb

Keyword(s):

Nonlinear Model ◽

Experimental Evaluation ◽

Tracking Control ◽

Underwater Vehicles ◽

Degree Of Freedom ◽

Model Based ◽

Three Degree Of Freedom ◽

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Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation

2012 Oceans ◽

10.1109/oceans.2012.6404842 ◽

2012 ◽

Author(s):

S. C. Martin ◽

L. L. Whitcomb

Keyword(s):

Nonlinear Model ◽

Experimental Evaluation ◽

Tracking Control ◽

Underwater Vehicles ◽

Degree Of Freedom ◽

Model Based ◽

Three Degree Of Freedom ◽

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Preliminary experiments in nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models

2012 Oceans ◽

10.1109/oceans.2012.6404841 ◽

2012 ◽

Author(s):

S. C. Martin ◽

L. L. Whitcomb

Keyword(s):

Nonlinear Model ◽

Tracking Control ◽

Underwater Vehicles ◽

Degree Of Freedom ◽

Model Based ◽

Three Degree Of Freedom ◽

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Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation

The International Journal of Robotics Research ◽

10.1177/0278364915620032 ◽

2016 ◽

Vol 35 (10) ◽

pp. 1164-1184 ◽

Author(s):

Stephen C Martin ◽

Louis L Whitcomb

Keyword(s):

Experimental Evaluation ◽

Underwater Vehicles ◽

Degree Of Freedom ◽

Model Based Control ◽

Model Based ◽

Six Degree Of Freedom

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Stable adaptive identification of fully‐coupled second‐order 6 degree‐of‐freedom nonlinear plant models for underwater vehicles: Theory and experimental evaluation

International Journal of Adaptive Control and Signal Processing ◽

10.1002/acs.3235 ◽

2021 ◽

Author(s):

Christopher J. McFarland ◽

Louis L. Whitcomb

Keyword(s):

Experimental Evaluation ◽

Underwater Vehicles ◽

Second Order ◽

Degree Of Freedom ◽

Adaptive Identification ◽

Fully Coupled ◽

Nonlinear Plant

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Liner Optimal Tracking Control of a Three-degree-of-freedom Air Floating Robot

2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) ◽

10.1109/cyber.2017.8446501 ◽

2017 ◽

Author(s):

Xiao Zhang ◽

Yun He ◽

Yong Liu ◽

Zhigang Xu ◽

Junyi Wang ◽

...

Keyword(s):

Tracking Control ◽

Degree Of Freedom ◽

Optimal Tracking ◽

Optimal Tracking Control ◽

Three Degree Of Freedom

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617 Trajectory Tracking Control of Three-Degree-of-Freedom Robot Driven by Stepping Motors

The Proceedings of the Dynamics & Design Conference ◽

10.1299/jsmedmc.2005._617-1_ ◽

2005 ◽

Vol 2005 (0) ◽

pp. _617-1_-_617-5_

Author(s):

Hiroyuki KOJIMA ◽

Hideyuki CHIGIRA ◽

Yoshihumi KUWANO ◽

Keiichi ABE ◽

NORIYOSHI Kikuchi ◽

...

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Degree Of Freedom ◽

Trajectory Tracking Control ◽

Three Degree Of Freedom

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Nonlinear Model Analysis and “Switching Model” of AC–DC Three-Degree-of-Freedom Hybrid Magnetic Bearing

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2015.2463676 ◽

2016 ◽

Vol 21 (2) ◽

pp. 1102-1115 ◽

Author(s):

Weiyu Zhang ◽

Huangqiu Zhu ◽

Zebin Yang ◽

Xiaodong Sun ◽

Ye Yuan

Keyword(s):

Nonlinear Model ◽

Model Analysis ◽

Magnetic Bearing ◽

Degree Of Freedom ◽

Switching Model ◽

Three Degree Of Freedom

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Three-Degree-of-Freedom Dynamic Model-Based Intelligent Nonsingular Terminal Sliding Mode Control for a Gantry Position Stage

IEEE Transactions on Fuzzy Systems ◽

10.1109/tfuzz.2012.2191412 ◽

2012 ◽

Vol 20 (5) ◽

pp. 971-985 ◽

Author(s):

Faa-Jeng Lin ◽

Po-Huan Chou ◽

Chin-Sheng Chen ◽

Yu-Sheng Lin

Keyword(s):

Sliding Mode Control ◽

Dynamic Model ◽

Sliding Mode ◽

Degree Of Freedom ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

Model Based ◽

Mode Control ◽

Nonsingular Terminal Sliding Mode ◽

Three Degree Of Freedom

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Semiglobal Trajectory Tracking Control Law for a Nonlinear Nonminimum Phase Three-Degree-of-Freedom Flight Vehicle

Journal of Guidance Control and Dynamics ◽

10.2514/1.35758 ◽

2009 ◽

Vol 32 (2) ◽

pp. 693-699

Author(s):

Saif A. Al-Hiddabi

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Degree Of Freedom ◽

Control Law ◽

Flight Vehicle ◽

Trajectory Tracking Control ◽

Nonminimum Phase ◽

Three Degree Of Freedom

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Three-Degree-of-Freedom Dynamic Model Based IT2RFNN Control for Gantry Position Stage

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.416-417.554 ◽

2013 ◽

Vol 416-417 ◽

pp. 554-558

Author(s):

Po Huan Chou ◽

Faa Jeng Lin ◽

Chin Sheng Chen ◽

Feng Chi Lee

Keyword(s):

Control System ◽

Dynamic Model ◽

Adaptive Learning ◽

Tracking Error ◽

Degree Of Freedom ◽

Mechanical Coupling ◽

Control Approach ◽

Model Based ◽

Interval Type ◽

Three Degree Of Freedom

A three-degree-of-freedom (3-DOF) dynamic model based interval type-2 recurrent fuzzy neural network (IT2RFNN) control system is proposed in this study for a gantry position stage. To consider the effect of inter-axis mechanical coupling, a Lagrangian equation based 3-DOF dynamic model for gantry position stage is derived first. Then, to minimize the synchronous error and tracking error of the gantry position stage, the 3-DOF dynamic model based IT2RFNN control system is proposed. In this approach, the adaptive learning algorithms of the IT2RFNN on-line are derived from the Lyapunov stability theorem. Finally, some experimental results of optical inspection application are illustrated to show the validity of the proposed control approach.

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