Search Results (45)

This paper addresses the trajectory tracking control problem of underactuated ships in ocean engineering, which faces the dual challenges of tracking error time–performance regulation and robustness design due to the system’s underactuated characteristics, model uncertainties, and external disturbances. Aiming to address the issues of traditional finite-time control (convergence time dependent on initial states) and fixed-time control (control chattering and parameter conservativeness), this paper proposes a predefined-time adaptive control framework that integrates an event-triggered mechanism and neural networks. By constructing a Lyapunov function with time-varying weights and designing non-periodic dynamically updated dual triggering conditions, the convergence process of tracking errors is strictly constrained within a user-prespecified time window without relying on initial states or introducing non-smooth terms. An adaptive approximator based on radial basis function neural networks (RBF-NNs) is employed to compensate for unknown nonlinear dynamics and external disturbances in real-time. Combined with the event-triggered mechanism, it dynamically adjusts the update instances of control inputs, ensuring prespecified tracking accuracy while significantly reducing computational resource consumption. Theoretical analysis shows that all signals in the closed-loop system are uniformly ultimately bounded, tracking errors converge to a neighborhood of the origin within the predefined-time, and the update frequency of control inputs exhibits a linear relationship with the predefined-time, avoiding Zeno behavior. Simulation results verify the effectiveness of the proposed method in complex marine environments. Compared with traditional control strategies, it achieves more accurate trajectory tracking, faster response, and a substantial reduction in control input update frequency, providing an efficient solution for the engineering implementation of embedded control systems in unmanned ships. Full article

In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, measurement errors in acceleration signals are eliminated through filtering techniques and a series of auxiliary variables, and after linearly parameterizing the USV dynamic model, a parameter adaptive update law is developed based on Lyapunov’s second method to estimate unknown dynamic parameters in the USV dynamics model. This parameter adaptive update law enables online identification of all USV dynamic parameters during trajectory tracking while ensuring convergence of the estimation errors. Second, a radial basis function neural network (RBF-NN) is employed to approximate unmodeled dynamics in the USV system, and on this basis, a robust damping term is designed based on neural damping technology to compensate for environmental disturbances and unmodeled dynamics. Subsequently, a trajectory tracking controller with parameter adaptation law and robust damping term is proposed using Lyapunov theory and adaptive control techniques. In addition, finite-time auxiliary variables are also added to the controller to handle the actuator saturation problem. Signal delay compensators are designed to compensate for input signal delays in the control system, thereby enhancing controller reliability. The proposed controller ensures robustness in trajectory tracking under model uncertainties and time-varying environmental disturbances. Finally, the convergence of each signal of the closed-loop system is proved based on Lyapunov theory. And the effectiveness of the control system is verified by numerical simulation experiments. Full article

This work devised an on-device learning approach to self-calibrate Micro-Electro-Mechanical Systems-based Inertial Measurement Units (MEMS-IMUs), integrating a digital signal processor (DSP), an accelerometer, and a gyroscope in the same package. The accelerometer and gyroscope stream their data in real time to the DSP, which runs artificial intelligence (AI) workloads. The real-time sensor data are subject to errors, such as time-varying bias and thermal stress. To compensate for these drifts, the traditional calibration method based on a linear model is applicable, and unfortunately, it does not work with nonlinear errors. The algorithm devised by this study to reduce such errors adopts Radial Basis Function Neural Networks (RBF-NNs). This method does not rely on the classical adoption of the backpropagation algorithm. Due to its low complexity, it is deployable using kibyte memory and in software runs on the DSP, thus performing interleaved in-sensor learning and inference by itself. This avoids using any off-package computing processor. The learning process is performed periodically to achieve consistent sensor recalibration over time. The devised solution was implemented in both 32-bit floating-point data representation and 16-bit quantized integer version. Both of these were deployed into the Intelligent Sensor Processing Unit (ISPU), integrated into the LSM6DSO16IS Inertial Measurement Unit (IMU), which is a programmable 5–10 MHz DSP on which the programmer can compile and execute AI models. It integrates 32 KiB of program RAM and 8 KiB of data RAM. No permanent memory is integrated into the package. The two (fp32 and int16) RBF-NN models occupied less than 21 KiB out of the 40 available, working in real-time and independently in the sensor package. The models, respectively, compensated between 46% and 95% of the accelerometer measurement error and between 32% and 88% of the gyroscope measurement error. Finally, it has also been used for attitude estimation of a micro aerial vehicle (MAV), achieving an error of only 2.84°. Full article

This study investigates the cooperative substation inspection problem for multi-unmanned aerial vehicle systems (MUAVs) subjected to uncertain disturbances. To enhance inspection reliability and efficiency, a novel distributed fixed-time group consensus control scheme is proposed. In this framework, radial basis function neural networks (RBF NNs) are employed to approximate both intrinsic nonlinear uncertainties and uncertain disturbances affecting UAV dynamics. Subsequently, a distributed fixed-time controller is developed via backstepping techniques, where fixed-time command filters are integrated to circumvent the complexity explosion inherent to conventional backstepping. Furthermore, an approximation error compensation system is established. It mitigates estimation inaccuracies arising from RBF NN approximations and command filtering processes. The mathematical analysis demonstrates that the proposed controller ensures the fixed-time convergence of group consensus errors into an adjustable residual set. Finally, numerical simulations and MUAV group formation simulations validate the robustness against aerodynamic uncertainties. Full article

The neural moving horizon estimator (NMHE) is a relatively new and powerful state estimator that combines the strengths of neural networks (NNs) and model-based state estimation techniques. Various approaches exist for constructing NMHEs, each with its unique advantages and limitations. However, a comprehensive literature review that consolidates existing knowledge, outlines design guidelines, and highlights future research directions is currently lacking. To address this gap, this systematic review screened 1164 records and ultimately included 22 primary studies, following the preferred reporting items for systematic reviews and meta-analyses (PRISMA) protocol. This paper (1) explains the fundamental principles of NMHEs, (2) explores three major NMHE architectures, (3) analyzes the types of NNs used, such as multi-layer perceptrons (MLPs), long short-term memory networks (LSTMs), radial basis function networks (RBFs), and fuzzy neural networks, (4) reviews real-time implementability—including reported execution times ranging from 1.6 μs to 11.28 s on different computing hardware—and (5) identifies common limitations and future research directions. The findings show that NMHEs can be realized in three principal ways: model learning, cost function learning, and approximating the real-time optimization in moving horizon estimation. Cost function learning offers flexibility in capturing task-specific estimation goals, while model learning and optimization approximation approaches tend to improve estimation accuracy and computational speed, respectively. Full article

Switched reluctance motor drives are becoming attractive for electric vehicle propulsion systems due to their simple and cheap construction. However, their operation is degraded by torque ripples due to the salient nature of the stator and rotor poles. There are several methods of mitigating torque ripples in switched reluctance motors (SRMs). Apart from changing the geometrical design of the motor, the less costly technique involves the development of an adaptive switching strategy. By selecting suitable turn-on and turn-off angles, torque ripples in SRMs can be significantly reduced. This work combines the benefits of Harris Hawks Optimization (HHO) and Radial Basis Functions (RBFs) to search and estimate optimal switching angles. An objective function is developed under constraints and the HHO is utilized to perform search stages for optimal switching angles that guarantee minimal torque ripples at every speed and current operating point. In this work, instead of storing the ${\theta }_{on}, {\theta }_{off}$ values in a look-up table, the values are passed on to an RBF model to learn the nonlinear relationship between the columns of data from the HHO and hence transform them into high-dimensional outputs. The values are used to train an enhanced neural network (NN) in an adaptive switching strategy to address the nonlinear magnetic characteristics of the SRM. The proposed method is implemented on a current chopping control-based SRM 8/6, 600 V model. Percentage torque ripples are used as the key performance index of the proposed method. A fuzzy logic switching angle compensation strategy is implemented in numerical simulations to validate the performance of the HHO-RBF method. Full article

This paper presents a new means to control the processes involving energy conversion. Electric machines fed by electronic converters provide a useful power defined by the inner product of two generalized energetic variables: effort and flow. The novelty in this paper is controlling the desired energetic variables by a Data-Driven Control (DDC) law, which comprises the effort and flow and the corresponding process control. The same desired useful power might be obtained with different controls at different efficiencies. Solving the regularization problem is based on building a knowledge database that contains the maximum efficiency points. Knowing a reasonable number of optimal efficiency operation points, an interpolation Radial Base Function (RBF) control was built. The RBF algorithm can be found by training and testing the optimal controls for any admissible operation points of the process. The control scheme developed for Permanent Magnet Synchronous Motor (PMSM) has an inner DDC loop that performs converter control based on measured speed and demanded torque by the outer loop, which handles the speed. A comparison of the DDC with the Model Predictive Control (MPC) of the PMSM highlights the advantages of the new control method: the method is free from the process nature and guarantees higher efficiency. Full article

This paper explores the cooperative control of unmanned surface vessels (USVs) and unmanned aerial vehicles (UAVs) in maritime rescue and coastal surveillance. The USV-UAV system faces challenges of disturbances and substantial inertia-induced overshooting during path following. A novel position prediction line of sight (LOS) guidance law is proposed to address these issues for USV path following control. Radial basis function-based neural networks (RBF-NNs) are used to estimate disturbances, and a high-order differentiator is used to design a velocity observer for unknown USV velocity. The UAV control system employs proportional–derivative (PD) control with feedforward compensation for quadrotor control design and utilizes a finite-time converging third-order differentiator to differentiate non-continuous functions. The simulation results demonstrate strong robustness in the proposed USV-UAV cooperative control algorithm. It achieves path following control in the presence of wind and wave disturbances and exhibits minimal overshoot. Full article

The Gas and Downhole Water Sink–Assisted Gravity Drainage (GDWS-AGD) process addresses gas flooding limitations in reservoirs surrounded by infinite-acting aquifers, particularly water coning. The GDWS-AGD technique reduces water cut in oil production wells, improves gas injectivity, and optimizes oil recovery, especially in reservoirs with high water coning. The GDWS-AGD process installs two 7-inch production casings bilaterally. Then, two 2-3/8-inch horizontal tubings are completed. One tubing produces oil above the oil–water contact (OWC) area, while the other drains water below it. A hydraulic packer in the casing separates the two completions. The water sink completion uses a submersible pump to prevent water from traversing the oil column and entering the horizontal oil-producing perforations. To improve oil recovery in the heterogeneous upper sandstone pay zone of the South Rumaila oil field, which has a strong aquifer and a large edge water drive, the GDWS-AGD process evaluation was performed using a compositional reservoir flow model in a 10-year prediction period in comparison to the GAGD process. The results show that the GDWS-AGD method surpasses the GAGD by 275 million STB in cumulative oil production and 4.7% in recovery factor. Based on a 10-year projection, the GDWS-AGD process could produce the same amount of oil in 1.5 years. In addition, the net present value (NPV) given various oil prices (USD 10–USD 100 per STB) was calculated through the GAGD and GDWS-AGD processes. The GDWS-AGD approach outperforms GAGD in terms of NPV across the entire range of oil prices. The GAGD technique became uneconomical when oil prices dropped below USD 10 per STB. Design of Experiments–Latin Hypercube Sampling (DoE-LHS) and radial basis function neural networks (RBF-NNs) were used to determine the optimum operational decision variables that influence the GDWS-AGD process’s performance and build the proxy metamodel. Decision variables include well constraints that control injection and production. The optimum approach increased the recovery factor by 1.7525% over the GDWS-AGD process Base Case. With GDWS-AGD, water cut and coning tendency were significantly reduced, along with reservoir pressure, which all led to increasing gas injectivity and oil recovery. The GDWS-AGD technique increases the production of oil and NPV more than the GAGD process. Finally, the GDWS-AGD technique offers significant improvements in oil recovery and income compared to GAGD, especially in reservoirs with strong water aquifers. Full article

This paper focuses on a distributed cooperative time-varying formation maneuvering issue of under-actuated unmanned surface vehicles (USVs). A fleet of USVs is guided by a parameterized path with a time-varying formation while avoiding collisions and preserving the connectivity in the environment with multiple obstacles. In some surface missions, due to the obstacles in the external environment, the bandwidth limitations of the communication channel, and the hardware components/performance constraints of the USVs themselves, each vehicle is considered to be subject to model uncertainty, actuator quantization, sensor dead zone, and velocity constraints. During the control design process, the radial basis function (RBF) neural networks (NNs) are utilized to deal with nonlinear terms. Based on a nonlinear decomposition method, the relationship between the control signal and the quantization one is established, which overcomes the difficulty arising from actuator quantization. A Nussbaum function is introduced to handle the unknown output dead zone problem caused by reduced sensor sensitivity. Moreover, a universal-constrained function is employed to satisfy both the constrained and unconstrained requirements during formation keeping and obstacle avoidance. The Lyapunov stability theory confirmed that the error signals are uniformly ultimately bounded (UUB). The simulation results demonstrate the effectiveness of the proposed distributed formation control of multiple USVs. Full article

This paper proposes an optimal tracking control scheme through adaptive dynamic programming (ADP) for a class of partially unknown discrete-time (DT) nonlinear systems based on a radial basis function neural network (RBF-NN). In order to acquire the unknown system dynamics, we use two RBF-NNs; the first one is used to construct the identifier, and the other one is used to directly approximate the steady-state control input, where a novel adaptive law is proposed to update neural network weights. The optimal feedback control and the cost function are derived via feedforward neural network approximation, and a means of regulating the tracking error is proposed. The critic network and the actor network were trained online to obtain the solution of the associated Hamilton–Jacobi–Bellman (HJB) equation within the ADP framework. Simulations were carried out to verify the effectiveness of the optimal tracking control technique using the neural networks. Full article

Comparing algorithms are crucial for enhancing the accuracy of remote sensing estimations of forest biomass in regions with high heterogeneity. Herein, Sentinel 2A, Sentinel 1A, Landsat 8 OLI, and Digital Elevation Model (DEM) were selected as data sources. A total of 12 algorithms, including 7 types of learners, were utilized for estimating the aboveground biomass (AGB) of Pinus yunnanensis forest. The results showed that: (1) The optimal algorithm (Extreme Gradient Boosting, XGBoost) was selected as the meta-model (referred to as XGBoost-stacking) of the stacking ensemble algorithm, which integrated 11 other algorithms. The R² value was improved by 0.12 up to 0.61, and RMSE was decreased by 4.53 Mg/ha down to 39.34 Mg/ha compared to the XGBoost. All algorithms consistently showed severe underestimation of AGB in the Pinus yunnanensis forest of Yunnan Province when AGB exceeded 100 Mg/ha. (2) XGBoost-Stacking, XGBoost, BRNN (Bayesian Regularized Neural Network), RF (Random Forest), and QRF (Quantile Random Forest) have good sensitivity to forest AGB. QRNN (Quantile Regression Neural Network), GP (Gaussian Process), and EN (Elastic Network) have more outlier data and their robustness was poor. SVM-RBF (Radial Basis Function Kernel Support Vector Machine), k-NN (K Nearest Neighbors), and SGB (Stochastic Gradient Boosting) algorithms have good robustness, but their sensitivity was poor, and QRF algorithms and BRNN algorithm can estimate low values with higher accuracy. In conclusion, the XGBoost-stacking, XGBoost, and BRNN algorithms have shown promising application prospects in remote sensing estimation of forest biomass. This study could provide a reference for selecting the suitable algorithm for forest AGB estimation. Full article

This paper addresses the lateral motion control of a supercavitating vehicle and studies its ability to maneuver. According to the unique hydrodynamic characteristics of the supercavitating vehicle, highly coupled nonlinear 6-degree-of-freedom (DOF) dynamic and kinematic models are constructed considering time-delay effects. A control scheme utilizing radial basis function (RBF) neural-network-(NN)-based adaptive sliding with planing force avoidance is proposed to simultaneously control the longitudinal stability and lateral motion of the supercavitating vehicle in the presence of external ocean-induced disturbances. The online estimation of nonlinear disturbances is conducted in real time by the designed NN and compensated for the dynamic control laws. The adaptive laws of the NN weights and control parameters are introduced to improve the performance of the NN. The least squares method is utilized to solve the actuator control efforts with rolling restriction in real-time online. Rigorous theoretical proofs based on the Lyapunov theory prove the globally asymptotic stability of the proposed controller. Finally, numerical simulations were performed to obtain maximum maneuverability and verify the effectiveness and robustness of the proposed control scheme. Full article

Piezoelectric actuators (PEAs) have the benefits of a high-resolution and high-frequency response and are widely applied in the field of micro-/nano-high-precision positioning. However, PEAs undergo nonlinear hysteresis between input voltage and output displacement, owing to the properties of materials. In addition, the input frequency can also influence the hysteresis response of PEAs. Research on tracking the control of PEAs by using various adaptive controllers has been a hot topic. This paper presents a finite-time sliding-mode controller (SMC) based on the disturbance observer (DOB) and a radial basis function (RBF) neural network (NN) (RBF-NN). RBF-NN is used to replace the hysteresis model of the dynamic system, and a novel finite-time adaptive DOB is proposed to estimate the disturbances of the system. By using RBF-NN, it is no longer necessary to establish the hysteresis model. The proposed DOB does not rely on any priori knowledge of disturbances and has a simple structure. All the solutions of closed-loop systems are practical finite-time-stable, and tracking errors can converge to a small neighborhood of zero in a finite time. The proposed control method was compiled in C language in the VC++ environment. A series of comparative experiments were conducted on a platform of a commercial PEA to validate the method. According to the experimental results of the sinusoidal and triangular trajectories under the frequencies of 1, 50, 100, and 200 Hz, the proposed control method is feasible and effective in improving the tracking control accuracy of the PEA platform. Full article

Path planning and tracking are essential technologies for unmanned surface vessels (USVs). The kinodynamic constraints and actuator faults, however, bring difficulties in finding feasible paths and control efforts. This paper proposes a collision avoidance strategy for USV by developing the kinodynamic rapidly exploring random tree-smart (kinodynamic RRT*-smart) algorithm and the fault-tolerant control method. By utilizing the triangular inequality and the intelligent biased sampling strategy, the kinodynamic RRT*-smart shows its advantages in terms of path length, cost and running time. With consideration of kinodynamic constraints, a feasible and collision-free trajectory can be provided. Then, a radial basis function neural network-based model predictive control (RBF-MPC) method was designed that compensates for the model’s uncertainties by developing the radial basis function neural network (RBF-NN) approximator and by constructing a feedback-state training dataset in real time. Furthermore, two types of fault situation were analyzed considering the thruster failure. We established the faults’ mathematical models and investigated the fault-tolerant strategies for different fault types. The simulation studies were conducted to validate the effectiveness of the proposed strategy. The results show that the proposed planning and control methods can avoid obstacles in faulty conditions. Full article