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CASIA OpenIR
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Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework 期刊论文
IEEE ROBOTICS & AUTOMATION MAGAZINE, 2023, 卷号: 31, 期号: 1, 页码: 18-28
作者:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Lv, Jiaqi;  Su, Hu;  Wang, Yu;  Ma, Hongxuan
Adobe PDF(2970Kb)  |  收藏  |  浏览/下载：81/10  |  提交时间：2024/02/22
Vehicle dynamics  Robots  Propulsion  Predictive models  Biological system modeling  Robustness  Disturbance observers  
Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves 期刊论文
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023, 卷号: 72, 页码: 14
作者:  Wang, Rui;  Jiang, Tianyu;  Bai, Ge;  Wang, Yu;  Wang, Shuo;  Tan, Min
收藏  |  浏览/下载：130/0  |  提交时间：2023/11/17
Trajectory planning  Trajectory  Planning  Vehicle dynamics  Robots  Underwater vehicles  Real-time systems  Bezier curve  biomimetic underwater vehicle (BUV)  cooperative trajectory planning  dynamic obstacle avoidance  
Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 页码: 12
作者:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Wang, Yu;  Su, Hu
Adobe PDF(4065Kb)  |  收藏  |  浏览/下载：135/15  |  提交时间：2023/11/16
Bionic underwater vehicle (BUV)  model predictive control (MPC)  trajectory tracking  undulatory propulsion  
Sample-Observed Soft Actor-Critic Learning for Path Following of a Biomimetic Underwater Vehicle 期刊论文
IEEE Transactions on Automation Science and Engineering, 2023, 页码: 1-10
作者:  Ma, Ruichen;  Wang, Yu;  Wang, Shuo;  Cheng, Long;  Wang, Rui;  Tan, Ming
Adobe PDF(2902Kb)  |  收藏  |  浏览/下载：216/66  |  提交时间：2023/08/03
Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning 期刊论文
IEEE/ASME Transactions on Mechatronics, 2023, 页码: 1-10
作者:  Ma, Ruichen;  Wang, Yu;  Tang, Chong;  Wang, Shuo;  Wang, Rui
收藏  |  浏览/下载：113/0  |  提交时间：2023/08/03
Biomimetic underwater vehicle (BUV)  Deep reinforcement learning (DRL)  Soft actor-critic (SAC)  Undulatory fin  
Omnidirectional Drift Control of an Underwater Biomimetic Vehicle-Manipulator System via Reinforcement Learning 会议论文
, Suzhou, China, May 14-16, 2021
作者:  Ma, Ruichen;  Wang, Yu;  Wang, Rui;  Wang, Shuo
Adobe PDF(855Kb)  |  收藏  |  浏览/下载：116/41  |  提交时间：2023/08/02
Omnidirectional Drift Control  Undulating Fin  Underwater Biomimetic Vehicle-manipulator System (UBVMS)  Reinforcement Learning  Twin Delayed Deep Deterministic policy gradient (TD3)  
Locomotion Control of a Hybrid Propulsion Biomimetic Underwater Vehicle via Deep Reinforcement Learning 会议论文
, Xining, China, 15-19 July 2021
作者:  Zhang Tiandong;  Wang Rui;  Wang Yu;  Wang Shuo
Adobe PDF(1244Kb)  |  收藏  |  浏览/下载：88/30  |  提交时间：2023/06/14
A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 卷号: 28, 期号: 3, 页码: 1415 - 1424
作者:  Lv, Jiaqi;  Wang, Yu;  Wang, Shuo;  Bai, Xuejian;  Wang, Rui;  Tan, Min
Adobe PDF(3810Kb)  |  收藏  |  浏览/下载：385/81  |  提交时间：2023/02/22
Arctangent nonsingularity terminal sliding mode (ANTSM) control  biomimetic underwater vehicle (BUV)  collision-free in dynamic environments  fuzzy artificial potential field (FAPF) planning  robots  
Three-dimensional Target Tracking Control for a Biomimetic Underwater Vehicle 会议论文
无, 上海, 2020-10-1
作者:  Bai G(白舸);  Wang R(王睿);  Wang Y(王宇);  Wang S(王硕)
Adobe PDF(932Kb)  |  收藏  |  浏览/下载：246/76  |  提交时间：2022/07/08
Biomimetic underwater vehicle  active disturbance rejection control  target tracking  distance controller.  
Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion 期刊论文
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2021, 页码: 13
作者:  Zhang, Tiandong;  Wang, Rui;  Wang, Yu;  Cheng, Long;  Wang, Shuo;  Tan, Min
Adobe PDF(4770Kb)  |  收藏  |  浏览/下载：296/52  |  提交时间：2022/01/27
Propulsion  DC motors  Robots  Control systems  Servomotors  Underwater vehicles  Sports  Biomimetic underwater vehicle (BUV)  body andor caudal fin (BCF)  median and or paired fin (MPF) hybrid propulsion  central pattern generators (CPGs)  fuzzy proportion integral differential (PID)