Simulation-based usability testing of some tracking controllers for underactuated underwater vehicles using simplified criteria

This paper proposes a method for the preliminary verification of known control algorithms designed for tracking the desired trajectory of underactuated underwater vehicles. It is based on simplified criteria for the selection of suitable controllers. Moreover, a certain method for the selection of controller parameters is indicated, which can be effective in the initial analysis of the suitability of selected control schemes. In order to demonstrate the possible application of the described approach, several control strategies known from the literature were selected and numerical tests for them were performed for two 3 DOF models of underwater vehicles with different dynamics. The method given here can be useful for simulation studies at the stage of controller selection without its experimental validation.

Review article: State-of-the-art trajectory tracking of autonomous vehicles

Air pollution, energy consumption, and human safety issues have aroused people's concern around the world. This phenomenon could be significantly alleviated with the development of automatic driving techniques, artificial intelligence, and computer science. Autonomous vehicles can be generally modularized as environment perception, path planning, and trajectory tracking. Trajectory tracking is a fundamental part of autonomous vehicles which controls the autonomous vehicles effectively and stably to track the reference trajectory that is predetermined by the path planning module. In this paper, a review of the state-of-the-art trajectory tracking of autonomous vehicles is presented. Both the trajectory tracking methods and the most commonly used trajectory tracking controllers of autonomous vehicles, besides state-of-art research studies of these controllers, are described.

Double Tracking Control for the Directed Complex Dynamic Network via the Observer of Outgoing Links

From the large system perspective, the directed complex dynamic network is considered as being composed of the nodes subsystem (NS) and the links subsystem (LS), which are coupled with together. Different from the previous studies which propose the dynamic model of LS with the matrix differential equations, this paper describes the dynamic behavior of LS with the outgoing links vector at every node, by which the dynamic model of LS can be represented as the vector differential equation to form the outgoing links subsystem (OLS). Since the vectors possess the flexible mathematical operational properties than matrices, this paper proposes the more convenient mathematic method to investigate the double tracking control problems of NS and OLS. Under the state of OLS can be unavailable, the asymptotical state observer of OLS is designed in this paper, by which the tracking controllers of NS and OLS are synthesized to ensure achieving the double tracking goals. Finally, the example simulations for supporting the theoretical results are also provided.