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Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle 期刊论文
RESEARCH, 2024, 卷号: 7, 页码: 11
Authors:  Wang, Yu;  Chu, Hongfei;  Ma, Ruichen;  Bai, Xuejian;  Cheng, Long;  Wang, Shuo;  Tan, Min
Favorite  |  View/Download:16/0  |  Submit date:2024/05/30
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
Authors:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Lv, Jiaqi;  Su, Hu;  Wang, Yu;  Ma, Hongxuan
Adobe PDF(2970Kb)  |  Favorite  |  View/Download:57/5  |  Submit date:2024/02/22
Vehicle dynamics  Robots  Propulsion  Predictive models  Biological system modeling  Robustness  Disturbance observers  
Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 页码: 12
Authors:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Wang, Yu;  Su, Hu
Adobe PDF(4065Kb)  |  Favorite  |  View/Download:108/7  |  Submit date: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
Authors:  Ma, Ruichen;  Wang, Yu;  Wang, Shuo;  Cheng, Long;  Wang, Rui;  Tan, Ming
Adobe PDF(2902Kb)  |  Favorite  |  View/Download:196/61  |  Submit date: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
Authors:  Ma, Ruichen;  Wang, Yu;  Tang, Chong;  Wang, Shuo;  Wang, Rui
Favorite  |  View/Download:100/0  |  Submit date:2023/08/03
Biomimetic underwater vehicle (BUV)  Deep reinforcement learning (DRL)  Soft actor-critic (SAC)  Undulatory fin  
Position Control of an Underwater Biomimetic Vehicle-Manipulator System via Reinforcement Learning 会议论文
, Liuzhou, China, 20-22 November 2020
Authors:  Ma, Ruichen;  Wang, Yu;  Gao, Zisen;  Zhao, Tianzi;  Wang, Rui;  Wang, Shuo;  Zhou, Chao
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Data-driven Locomotive Strategies of the UVMS Propelled by Undulating Fins 会议论文
, Honolulu, Hawaii, USA, June 16-21, 2019
Authors:  Ma, Ruichen;  Du, Huajun;  Wang, Rui;  Wang, Yu;  Wang, Shuo;  Tang, Chong
Adobe PDF(1056Kb)  |  Favorite  |  View/Download:72/30  |  Submit date:2023/08/02
Development of a Propeller with Undulating Fins and Its Characteristics 会议论文
, Irkutsk, Russia, 04-09 August 2019
Authors:  Ma, Ruichen;  Wang, Yu;  Wang, Rui;  Wang, Shuo
Adobe PDF(5229Kb)  |  Favorite  |  View/Download:67/27  |  Submit date:2023/08/02
Omnidirectional Drift Control of an Underwater Biomimetic Vehicle-Manipulator System via Reinforcement Learning 会议论文
, Suzhou, China, May 14-16, 2021
Authors:  Ma, Ruichen;  Wang, Yu;  Wang, Rui;  Wang, Shuo
Adobe PDF(855Kb)  |  Favorite  |  View/Download:97/34  |  Submit date:2023/08/02
Omnidirectional Drift Control  Undulating Fin  Underwater Biomimetic Vehicle-manipulator System (UBVMS)  Reinforcement Learning  Twin Delayed Deep Deterministic policy gradient (TD3)  
基于强化学习的波动鳍推进水下作业机器人悬停控制 期刊论文
控制理论与应用, 2022, 卷号: 39, 期号: 11, 页码: 2022-2099
Authors:  马睿宸;  白雪剑;  王宇;  王睿;  王硕
Adobe PDF(5386Kb)  |  Favorite  |  View/Download:134/54  |  Submit date:2023/08/02
水下作业机器人  悬停控制  波动鳍  神经网络  强化学习