30 December 2025
Aiming at the problem of complex cluster constraints in the process of master slave AUV (Autonomous Underwater Vehicle) formation transformation and tracking in the wave environment, it is proposed to introduce the model predictive control (MPC) meth...
In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters of desired trajectory is investigated. First, the under-actuated system is transformed into a...
This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affi...
This paper considers the formation trajectory tracking problem of discrete-time distributed multi-AUVs (multiple autonomous underwater vehicles) with control input in a nonconvex set and weak communication. Firstly, a linear model of a single AUV is...
To maintain the formation of underactuated surface vessels (USVs), this study designs a formation controller based on a virtual structure strategy. The problem of formation control is transformed into the problems of tracking the USV position and the...
Due to the characteristics of good concealment ability and strong mobility, multiple, small spherical underwater robot formations play an important role in near coast defense missions, such as cruising, reconnaissance, surveillance, and sensitive tar...
This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, the nonlinear AUV model is transformed into a second-order integral model using feedback lineariz...
In this work, a predefined-time formation output constraint control method is proposed for underactuated AUVs with input saturation. First, a coordinate transformation method is utilized to convert the underactuated AUV system into a fully actuated s...
This paper proposes a modular control framework for high-order nonlinear multi-agent systems (MASs) to achieve distributed finite-time formation tracking with a prescribed performance. The design integrates two modules to address uncertainties and sa...
This article primarily investigates nonlinear disturbance observer-based bearing-only formation tracking control for unmanned aerial vehicle (UAV) systems that encounter uncertainties and disturbances. The employed distributed control strategy relies...
In this paper, an event-triggered finite-time controller is proposed for solving the formation control problems of underactuated multiple autonomous surface vessels (ASVs), including asymmetric mass matrix, collision avoidance, maintaining communicat...
Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constraine...
For a class of fractional-order singular multi-agent systems (FOSMASs) with local Lipschitz nonlinearity, this paper proposes a closed-loop Dα-type iterative learning formation control law via input sharing to achieve the stable formation of FO...
A small deviation in the time-delay of the image tracker is essential for improving the tracking precision of an electro-optical system, and for future advances in actuator technology. The core goal of this manuscript is to address issues such as tra...
This study proposes a new disturbance-observer-based adaptive distributed formation control scheme for multiple underactuated surface vehicles (USVs) subject to unknown synthesized disturbances under prescribed performance constraints. A modified sli...
This paper investigates a distributed robust tracking control method with prescribed convergence time for heterogeneous air–ground multi-agent systems under the combined effects of deception attacks and actuator faults. Considering the corrupti...
In the present study we investigated the nanostructuring processes in locally suspended few-layer graphene (FLG) films by irradiation with high energy ions (Xe, 26–167 MeV). For such an energy range, the main channel of energy transfer to FLG i...
Satellite formation flying faces significant challenges in maintaining its desired configurations due to various orbital perturbations, particularly in low-Earth-orbit environments. This paper presents a novel approach to generating fuel-optimal refe...
The issue of in-orbit optimal safe surrounding control for service satellite (SSat) formation against a huge unknown target satellite (TSat) with specific structures is solved by using relative measurements only, and an optimal cooperative safe surro...
The problem of vision-based fixed-wing UAV formation control under communication limitations and the presence of measurement errors was investigated. In the first part of this paper, the single UAV motion model and the process of estimating the neigh...
Effectively addressing the formation control of ABS-assisted hovercraft systems with heterogeneities, unavailable leaders’ convex combination states, nonlinearities, and mixed disturbances poses significant challenges. This paper proposes a dis...
Unmanned surface vehicles (USVs) are increasingly critical in modern maritime operations, where reliable cooperative formation control under actuator failure is essential for safe navigation and efficient mission execution. Thus, this study presents...
This paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the...
This paper proposes a cutting trajectory planning method for boom-type roadheaders using an improved Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Existing methods often overlook constraints related to cutterhead dimen...
Similar to many complex systems, the operation process of electric balanced forklifts has characteristics such as time-varying model parameters and nonlinearity. Establishing an accurate mathematical model becomes challenging, making it difficult to...
In this paper, a bio-inspired sliding mode control (bio-SMC) and minimal learning parameter (MLP) are proposed to achieve the cooperative formation control of underactuated unmanned surface vehicles (USVs) with external environmental disturbances and...
The fault-tolerant time-varying formation (TVF) trajectory tracking control problem is investigated in this paper for uncertain multi-agent systems (MASs) with external disturbances subject to time delays under semi-Markov switching topologies. First...
Formamidine lead iodide (FAPbI3) perovskite material is very suitable for solar photovoltaic devices because of its ideal low band gap, theoretically high efficiency, and wide range of solar spectral absorption, coupled with its good thermal stabilit...
In this work, combined experimental and modeling techniques were used to understand the bimetallic catalyst formation of Cu and Fe. The first part of this study aims to address this gap by employing analytical techniques such as X-ray diffraction (XR...
Unmanned aerial vehicles (UAVs) are playing an increasingly crucial role in many applications such as search and rescue, delivery services, and military operations. However, one of the significant challenges in this area is to plan efficient and safe...
Fuchs endothelial corneal dystrophy (FECD) is a progressive corneal disease characterized by corneal endothelial cell (CEC) loss and guttae formation. Elevated levels of Transforming Growth Factor-Beta 1 and 2 (TGF-β1/-β2) have been reporte...
This work presents a comprehensive evaluation of corrosion progression in DH36 naval steel through the integration of electrochemical impedance spectroscopy (EIS), weight loss, scanning electron microscopy (SEM), and advanced magnetic non-destructive...
The formation of a customs administration framework based on the digital economy in the Eurasian Economic Union (EAEU) requires the application of fundamentally new technologies. The successful implementation of digital technologies in the informatio...
Geopolymers represent an innovative and environmentally sustainable alternative to traditional construction materials, offering significant potential for reducing anthropogenic CO2 emissions. Among these, phosphoric acid-activated metakaolin-based sy...
The rapid advancement of high-performance electronics has intensified the demand for wide-bandgap semiconductor materials capable of operating under high-power and high-temperature conditions. Among these, silicon carbide (SiC) has emerged as a leadi...
Cellulose acetate butyrate is a biodegradable cellulose ester bioplastic produced from plentiful natural plant-based resources. Solvent-exchange-induced in situ gels are particularly promising for periodontitis therapy, as this dosage form allows for...