Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties

Zhilenkov, Anton; Chernyi, Sergei

doi:10.3390/designs5010024

Cited by 16 publications

(6 citation statements)

References 13 publications

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“…In addition, the scientific provisions of this work may be used in development of industry solutions in the field of CPS application; for example, in IoT e-health when modeling energy-efficiency using artificial intelligence as shown in [36][37][38][39][40]. Moreover, as noted in [33], according to experts, systems built on the basis of CPS allow provision of technological leadership and, hence, competitive advantages in many sectors of the digital economy including healthcare, transport, energy, construction and others.…”

Section: Discussionmentioning

confidence: 99%

“…Analysis of [23,[33][34][35][36][37][38][39][40] on the topic under consideration allowed us to summarize the fundamental properties of cyber-physical systems that should be taken into account while designing the functioning of cyber-physical systems. There main ones are sustainability, self-programming, adaptability, autonomy, efficiency, functionality, seamlessness, reliability, ability to self-study, usability, transparency, friendliness to human environment, fast speed of functioning and adaptation to environmental changes, complexity (number of incoming components), high power consumption, creation product value, and economic value-added.…”

Section: Main Properties Of Cpsmentioning

confidence: 99%

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Integrated Estimation of a Cyber-Physical System’s Sustainability

Schislyaeva

Balashova²,

Krasovskaya³

et al. 2022

Energies

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Currently, in conditions of Industry 4.0, the use of cyber-physical systems in various fields is becoming widespread. This article is devoted to the problem of estimating CPS sustainability in the context of modern challenges faced by decision makers and IT developers in order to ensure effective proactive business process management using this innovative technology. The purpose of the research is to propose and substantiate a methodology for estimating CPS sustainability to ensure the reliability and strength of its elements, their interrelationships and interaction, as well as the effective functioning and development of this system in conditions of high dynamism and uncertainty of the external environment. In this study, we used methods of integral evaluation, synthesis, expert assessments, dynamic analysis, and systematic approach, and coined the term ‘CPS sustainability’. Our study showed that negative risks, external and internal threats may have a significant adverse impact on CPS sustainability. The reliability of this system should be evaluated on the basis of integrated indicators. The key indicators, reflecting the reliability of maintaining the properties of the CPS in a normal state of its function and further development, were identified. We propose a methodology for estimating CPS sustainability. In general, the presented results form the basis for improving CPS management to increase the effectiveness and efficiency of its functioning and development.

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Section: Discussionmentioning

confidence: 99%

Section: Main Properties Of Cpsmentioning

confidence: 99%

Integrated Estimation of a Cyber-Physical System’s Sustainability

Schislyaeva

Balashova²,

Krasovskaya³

et al. 2022

Energies

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“…In [11], it is used as a part of controller estimator. The examples of systems controlled using Fuzzy logic are, i) Fuzzy Logic and Internet of Things (IoT) for water and energy saving [12], ii) Designed for non-minimumphase DC-DC converters [13], iii) Permanent Magnet Synchronous Motor (PMSM) speed control [14], iv) Synchronization for two Chua systems [15] v) Autonomous underwater robot [16] vi) Impedance control for robot manipulators [17].…”

Section: Introductionmentioning

confidence: 99%

Comparative analysis of a novel robust Fuzzy control algorithm, MPC and PID controllers for an uncertain two-link planar manipulator robot with external disturbances

Abadi,

Hameed,

Hosseinabadi

et al. 2024

Preprint

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This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Model Predictive Control (MPC) and PID techniques are used to compare the results with the proposed method. The control system of the manipulator robots must have some special features that guarantee stability, fast tracking, practicability of the control signals, smooth control, etc. A comparative analysis can provide a clearer picture of the control system’s performance. This study presents a comparative analysis between a novel robust Fuzzy technique, MPC and PID controllers for a two-link planar manipulator robot. Simulink/MATLAB is used for simulations of the controllers. The results show that the proposed robust Fuzzy method performs better and is more robust than other methods. The Integral of the Absolute value of the Error (IAE) and Integral of the Time Absolute value of the Error (ITAE) performance indexes are employed for a better and more logical comparison. Moreover, the control methods are compared with the essential control features such as accuracy, fast-tracking, robustness, etc. And in all the features, the proposed Fuzzy method is better than others.

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“…The results proved that the combination of intelligent-PID and PD feed-forward controller was able to improve the abilities of trajectory tracking and resistance to external interference. Zhilenkov Anton et al [22] put forward an AUV fuzzy controller to solve parameter uncertainty. The step control, harmonic control and control under different external interference were studied.…”

Section: Introductionmentioning

confidence: 99%

A LSSVR Interactive Network for AUV Motion Control

Jiang

Wan

Zhang

et al. 2023

JMSE

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In view of the requirements on control precision of autonomous underwater vehicles (AUVs) in different operations, the improvement of AUV motion control accuracy is the focus of this paper. In regard to the unsatisfying robustness of traditional control methods, an interactive network based on Least Square Support Vector Regression (LSSVR) is therefore put forward. The network completed the identification of the strong nonlinear AUV dynamic characteristics based on the LSSVR theory and by virtue of the interactions between the offline and online modules, it achieved offline design and online optimization of the AUV control law. In addition to contrastive numerical simulations and sea trials with the classic S-plane method in AUV velocity and heading control, the LSSVR network was also tested in path following and long-range cruise. The precision and robustness and of the proposed network were verified by the high-accuracy control results of the aforesaid simulations and trials. The network can be of practical use in AUV control especially under unfamiliar water conditions with access to a limited number of control samples or little information of the operation site.

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Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties

Cited by 16 publications

References 13 publications

Integrated Estimation of a Cyber-Physical System’s Sustainability

Integrated Estimation of a Cyber-Physical System’s Sustainability

Comparative analysis of a novel robust Fuzzy control algorithm, MPC and PID controllers for an uncertain two-link planar manipulator robot with external disturbances

A LSSVR Interactive Network for AUV Motion Control

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