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RISPassivity Based Stabilization of Underwater Gliders With a Control Surface
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The problem of stabilizing steady gliding is critical for an underwater glider, which is subject to many nonnegligible disturbances from the aquatic environment. In this paper, we propose a new systematic controller design ...
Adaptive Parameter Estimation With Convergence Analysis for the Prandtl–Ishlinskii Hysteresis Operator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Hysteresis is a nonlinear characteristic ubiquitously exhibited by smart material sensors and actuators, such as piezoelectric actuators and shape memory alloys. The Prandtl–Ishlinskii (PI) operator is widely used to ...
Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In many nonlinear systems, the observability of the system is dependent on its state and control input. Thus, incorporating observability into a control scheme can enhance an observer's ability to recover accurate estimates ...
Model Predictive Control-Based Path-Following for Tail-Actuated Robotic Fish
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: There has been an increasing interest in the use of autonomous underwater robots to monitor freshwater and marine environments. In particular, robots that propel and maneuver themselves like fish, often known as robotic ...
Light-Emitting Diode-Based Optical Localization of a Robot in Continuous Motion Using Dynamic Prediction1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For mobile robots, localization is essential for navigation and spatial correlation of its collected data. However, localization in Global Positioning System-denied environments such as underwater has been challenging. ...
Model Predictive Control-Based Path-Following for Tail-Actuated Robotic Fish
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: There has been an increasing interest in the use of autonomous underwater robots to monitor freshwater and marine environments. In particular, robots that propel and maneuver themselves like fish, often known as robotic ...
Tracking Error Analysis for Feedback Systems With Hysteresis Inversion and Fast Linear Dynamics1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Analysis of closedloop systems involving hysteresis is important to both the understanding of these systems and the synthesis of control schemes. However, such analysis is challenging due to the nonsmooth nature of hysteresis ...
Tail Enabled Spiraling Maneuver for Gliding Robotic Fish
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Gliding robotic fish, a new type of underwater robot, combines both strengths of underwater gliders and robotic fish, featuring long operation duration and high maneuverability. In this paper, we present both analytical ...
Inversion-Based Hysteresis Compensation Using Adaptive Conditional Servocompensator for Nanopositioning Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Nanopositioning stages are widely used in high-precision positioning applications. However, they suffer from an intrinsic hysteretic behavior, which deteriorates their tracking performance. This study proposes an adaptive ...
Dynamic Modeling of Robotic Fish With a Base Actuated Flexible Tail
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we develop a new dynamic model for a robotic fish propelled by a flexible tail actuated at the base. The tail is modeled by multiple rigid segments connected in series through rotational springs and dampers, ...