Design and Control of the “TransBoat”: A Transformable Unmanned Surface Vehicle for Overwater Construction

Zhang, Lianxin; Ji, Xiaoqiang; Jiao, Yang; Huang, Yihan; Qian, Huihuan

doi:10.1109/tmech.2022.3215506

Cited by 3 publications

(4 citation statements)

References 30 publications

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“…To ensure that λ 1 is always a positive constant, the values of k 3 − 1 2 and k 4 − 1 2 should be positive. Therefore, both k 3 and k 4 should be greater than 1 2 .…”

Section: Remark A1mentioning

confidence: 99%

“…An unmanned surface vehicle (USV) is a kind of autonomous waterborne platform that can autonomously complete tasks, such as environmental perception and target detection, and has autonomous identification, autonomous planning, and autonomous navigation capabilities [1][2][3]. It has the advantages of small size, low cost, good maneuverability, and no casualties [4].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Event-Triggered Path Following Robust Control of Underactuated Unmanned Surface Vehicles with Unknown Model Nonlinearity and Disturbances

Zhou,

Ning,

Ren

et al. 2023

JMSE

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An effective path-following controller is a guarantee for stable sailing of underactuated unmanned surface vehicles (USVs). This paper proposes an event-triggered robust control approach considering an unknown model nonlinearity, external disturbance, and event-triggered mechanism. The proposed method consists of guidance and dynamic control subsystems. Based on the tracking error dynamics equations, the guidance subsystem is designed to achieve the guidance law. For the dynamic control subsystem, the radial basis function neural networks (RBFNNs) are designed to approximate the unknown model nonlinearity and external disturbances to improve the robustness of the proposed method. In addition, an event-triggered mechanism is constructed to reduce the triggering times. The closed-loop system is proven to be stable, and the effectiveness of the proposed method is illustrated through simulation results.

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“…To ensure that λ 1 is always a positive constant, the values of k 3 − 1 2 and k 4 − 1 2 should be positive. Therefore, both k 3 and k 4 should be greater than 1 2 .…”

Section: Remark A1mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event-Triggered Path Following Robust Control of Underactuated Unmanned Surface Vehicles with Unknown Model Nonlinearity and Disturbances

Zhou,

Ning,

Ren

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

“…A promising solution for trestle erection is the collaboration of multiple unmanned surface platforms to enable formation navigation and cluster aggregation. [3][4][5][6] Therefore, an unmanned water-surface expandable platform holds great potential as a 1 College of Information Science and Technology, Donghua University, Shanghai, China 2 direction for research. It is crucial for unmanned boats to possess high-performance single-manipulation capabilities and the ability of a single unmanned surface vehicle (USV) to undertake multiple roles within a formation.…”

Section: Introductionmentioning

confidence: 99%

“…22 TransBoat uses a magnetic-based docking system for on-water construction with wave disturbances. 5 Researchers have proposed several intriguing solutions to test the docking systems of unmanned ships. However, not all docking systems are suitable for use in real wave environments, while ensuring the strength and reliability of the connection.…”

Section: Introductionmentioning

confidence: 99%

Experimental study on autonomous docking and hook-locking control for unmanned surface vehicle platforms

Wu,

Gao,

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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The challenge in autonomous docking and hook locking of multiple unmanned surface navigation platforms is to design an appropriate autonomous docking controller and ensure that the electric control hook can iteratively dock with the passive vessel. The current docking control solution for unmanned surface platforms needs to design an automatic tracking–generated trajectory and visual guidance docking system, capable of detecting the connection status after the hook-lock action to ensure a successful connection. However, most of the docking control designs for unmanned surface platforms pay more attention to the first-time success rate but pay less attention to the failures caused by complex and intelligent docking devices or environmental interference during docking. This article proposes a control strategy for autonomous docking and hook locking of two unmanned surface platforms. It guides the active vessel to the side of the passive vessel under the task requirements and triggers the visual docking control algorithm to complete the mechanical connection of the two joints. This method employs an iterative detection mechanism to improve the automatic hook and lock capability of both the active and passive vessels. The indoor pool and outdoor lake experiments demonstrate that the proposed method can successfully perform automatic iterative docking and hook locking, even in the presence of wave disturbance, showcasing the effectiveness of the proposed method.

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Design, Modeling and Control of A Novel USV-Manipulator System

Jiang,

Xu,

Jiang

et al. 2023

2023 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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Design and Control of the “TransBoat”: A Transformable Unmanned Surface Vehicle for Overwater Construction

Cited by 3 publications

References 30 publications

Event-Triggered Path Following Robust Control of Underactuated Unmanned Surface Vehicles with Unknown Model Nonlinearity and Disturbances

Event-Triggered Path Following Robust Control of Underactuated Unmanned Surface Vehicles with Unknown Model Nonlinearity and Disturbances

Experimental study on autonomous docking and hook-locking control for unmanned surface vehicle platforms

Design, Modeling and Control of A Novel USV-Manipulator System

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