Robust adaptive finite-time tracking control for Intervention-AUV with input saturation and output constraints using high-order control barrier function

Hou, Yongkang; Wang, Hai; Wei, Yongqiang; Iu, Herbert Ho Ching; Fernando, Tyrone

doi:10.1016/j.oceaneng.2022.113219

Cited by 22 publications

(9 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…At present, the application of sports posture detection technology in sports teaching and training, the construction of the playground sports posture detection effect analysis system, and the development of intelligent sports posture detection methods [7], are increasingly receiving the attention and research of experts in the field [8]. Sports posture detection effect analysis methods mainly include random forest, support vector machine, neural network, deep learning, heuristic optimisation algorithm and other methods [9]. Literature [10] extracted motion gesture detection features through questionnaires and other methods, and used the random forest method to construct a motion gesture detection method, which confirms the feasibility of intelligent motion detection technology; Literature [11] proposed an effect analysis method based on support vector machines by combing the analysis process of motion gesture detection and combining with machine learning algorithms; and Literature [12] designed a cloud-based multi-classification algorithm that has the ability to capture and analyse the leg and hip pressure features of human sitting state; literature [13] designed a Gaussian face algorithm and achieved significant accuracy on a face database; literature [14] used the KLT algorithm for face tracking, and trained a cascade classifier for face recognition, but the detection and recognition rate is low for people who are too high or too low; literature [15], after reflecting on the traditional sports gesture recognition method, discussed the joint position and face features as sports gesture recognition features, and proposed a neural network-based sports gesture recognition method; Literature [16] proposed three aspects of sports gesture recognition features, such as body joints, hand joints, and facial features, and meanwhile constructed a system for analysing the effects of sports gesture recognition, and proposed an effect analysis method based on deep learning algorithm; Literature [17] proposed a cascade classifier for detecting and recognizing faces, but the detection and recognition rate is low for tall and low people.…”

Section: J Xumentioning

confidence: 99%

Analysis and Improvement of the Application of Playground Sports Posture Detection Technology in Physical Education Teaching and Training

2024

EAI Endorsed Trans Perv Health Tech

View full text Add to dashboard Cite

INTORDUCTION: The goal of human posture detection technology applied in the field of sports is to realise the indexing of sports norms, to provide scientific guidance for training and teaching, which is of great significance to improve the quality of sports.OBJECITVES: Aiming at the problems of incomplete features, low accuracy and low real-time performance of sports posture detection and recognition methods.METHODS: In this paper, a method of sports pose detection based on snow melting heuristic optimisation algorithm of deep limit learning machine network is proposed. Firstly, by analyzing the process of motion pose detection, extracting the feature coordinates of Blaze-Pose and Blaze-Hands key nodes, and constructing the motion pose detection recognition system; then, optimizing the parameters of the deep extreme learning machine network through the snow-melt optimization algorithm, and constructing the motion pose detection recognition model; finally, through simulation experiments and analysis, the accuracy of the proposed method's motion pose detection recognition can reach 95% and the recognition time is less than 0.01 s.RESULTS: The results show that the proposed method improves the recognition accuracy precision, robustness and real-time performance.CONCLUSION: The problem of poor generalisation, low accuracy and insufficient real-time performance of the recognition application of the motion pose detection and recognition method is solved.

show abstract

Section: J Xumentioning

confidence: 99%

Analysis and Improvement of the Application of Playground Sports Posture Detection Technology in Physical Education Teaching and Training

2024

EAI Endorsed Trans Perv Health Tech

View full text Add to dashboard Cite

show abstract

“…93 For the intervention-AUV system with input saturation and output constraints, Hou et al proposed a finite-time trajectory tracking control scheme combining high-order control barrier function and quadratic program. 94 It should be noted that these control strategies can achieve good control effect, which is inseparable from real-time information transmission. Unfortunately, real-time communication is difficult to achieve in a practical application environment.…”

Section: 52mentioning

confidence: 99%

“…Considering the input saturation constraints and actuator faults in the AUV system, Zhu et al designed a finite‐time control strategy based on rotation matrix by using the sliding mode control method to realize global trajectory tracking 93 . For the intervention‐AUV system with input saturation and output constraints, Hou et al proposed a finite‐time trajectory tracking control scheme combining high‐order control barrier function and quadratic program 94 . It should be noted that these control strategies can achieve good control effect, which is inseparable from real‐time information transmission.…”

Section: Coordination Control Of Multi‐auv Systemsmentioning

confidence: 99%

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Chen,

Hu,

Ghosh

2023

Engineering Reports

View full text Add to dashboard Cite

SummaryCoordination control of multiple autonomous underwater vehicles (AUVs) has attracted considerable attention owing to its widespread applications in deep‐sea exploration, marine environment monitoring, regional searches, and detector recovery. In addition, finite‐time control theory is applied to ensure that the system achieves its control goal as soon as possible. To the authors' knowledge, few studies have systematically summarized the finite‐time coordination control of multiple AUV systems. Thus this review aims to systematically and completely introduce the research progress into the coordination control methods for multi‐AUV systems and their combination with finite‐time theory. The primary areas of focus are the research significance, present state, and prospects of coordination control and finite‐time control theory in multiple AUV systems, as well as their applications.

show abstract

“…(3) In [13][14][15][16][17][18][19][20], extensive research has been conducted on control methods for saturated inputs in individual systems. An essential contribution of this paper is the broadened applicability of the proposed control strategy to encompass nonlinear multi-agent systems with input saturation, thereby enhancing the versatility of the proposed method across a wider range of applications.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Adaptive Fuzzy Control for the Synchronization of Nonlinear Multi-Agent Systems under Input Saturation

Wu,

Cui

2024

Mathematics

View full text Add to dashboard Cite

This research explores the synchronization issue of leader–follower systems with multiple nonlinear agents, which operate under input saturation constraints. Each follower operates under a spectrum of unknown dynamic nonlinear systems with non-strict feedback. Additionally, due to the fact that the agents may be geographically dispersed or have different communication capabilities, only a subset of followers has direct communication with the leader. Compared to linear systems, nonlinear systems can provide a more detailed description of real-world physical models. However, input saturation is present in most real systems, due to various factors such as limited system energy and the physical constraints of the actuators. An auxiliary system of Nth order is introduced to counteract the impact of input saturation, which is then employed to create a collaborative controller. Due to the powerful capability of fuzzy logic systems in simulating complex nonlinear relationships, they are deployed to approximate the enigmatic nonlinear functions intrinsic to the systems. A distributed adaptive fuzzy state feedback controller is designed by approximating the derivative of the virtual controller by filters. The proposed controller ensures the synchronization of all follower outputs with the leader output in the communication graph. It is shown that all signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking errors converge to a small neighborhood around the origin. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approach.

show abstract

Robust adaptive finite-time tracking control for Intervention-AUV with input saturation and output constraints using high-order control barrier function

Cited by 22 publications

References 38 publications

Analysis and Improvement of the Application of Playground Sports Posture Detection Technology in Physical Education Teaching and Training

Analysis and Improvement of the Application of Playground Sports Posture Detection Technology in Physical Education Teaching and Training

Finite‐time coordination controls for multiple autonomous underwater vehicle systems

Cooperative Adaptive Fuzzy Control for the Synchronization of Nonlinear Multi-Agent Systems under Input Saturation

Contact Info

Product

Resources

About