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cs.RO2024
Trajectory tracking control of a Remotely Operated Underwater Vehicle based on Fuzzy Disturbance Adaptation and Controller Parameter Optimization
Hanzhi Yang
The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actu…
cs.RO2024★ 1 cited
Effective Underwater Glider Path Planning in Dynamic 3D Environments Using Multi-Point Potential Fields
Hanzhi Yang, Nina Mahmoudian
Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessita…
cs.RO2024
Gliding in extreme waters: Dynamic Modeling and Nonlinear Control of an Agile Underwater Glider
Hanzhi Yang, Nina Mahmoudian
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external a…