3 papers
eess.SY2026
PCT-Based Trajectory Tracking for Underactuated Marine Vessels
Ji-Hong Li
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PC…
eess.SY2025
CBF Based Quadratic Program for Trajectory Tracking of Underatuated Marine Vessels
Ji-Hong Li
By introducing two polar coordinates transformations, the marine vessel's original two-input-three-output second-order tracking model can be reduced to a two-input-two-output feedb…
eess.SY2025
MCE-based Direct FTC Method for Dynamic Positioning of Underwater Vehicles with Thruster Redundancy
Ji-Hong Li
This paper presents an active model-based FTC (fault-tolerant control) method for the dynamic positioning of a class of underwater vehicles with thruster redundancy. Compared to th…