A biologically inspired neurodynamics-based tracking controller of underactuated Autonomous Underwater Vehicles (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicles due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thruster control constraints problems that are commonly seen in the backstepping control of AUV are solved by the proposed controller. Simulation results show that the control strategy achieved success in smoothly tracking AUV position and velocity.
How to control an AUV accurately to complete an underwater path-following task is still an open challenging problem. A biological inspired neurodynamics based tracking controller of underactuated autonomous underwater vehicle (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with the biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicle due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thrusters control constraints problem which are commonly seen in the backstepping control of AUV are overcomed by the proposed controller.Simulation results show that the control strategy achieved success in the position and velocity smoothly tracking of AUV.
This presents a computer control system for a turning center workstation in Computer-integrated Manufacturing Systems (CIMS) environment. The system structure is first introduced. Then, an information exchange between different devices inside the workstation is studied. These devices are made by different manufacturers so that the communication between them becomes a problem. The principle of developing a software to implement the communications is presented, which includes the use of a software platform, the development of data acquisition system (DAS) for robots, and the writing of an information request. Finally, the operations of the system is presented.
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