公开(公告)号：US20250021110A1

公开(公告)日：2025-01-16

申请号：US18610243

申请日：2024-03-19

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Xinyang Xiong ,  Shaolong Yang ,  Gong Xiang ,  Guohua Xu

IPC: G05D1/689 ,  G05D109/30

Abstract: The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, the trajectory tracking error of the vehicle-manipulator coupling system is obtained. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can be controlled to operate precisely along the desired trajectory.

公开(公告)号：US20220397694A1

公开(公告)日：2022-12-15

申请号：US17837059

申请日：2022-06-10

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Jialei Zhang ,  Shaolong Yang ,  Qin Zhang ,  Gong Xiang ,  Guohua Xu

IPC: G01V3/165 ,  B63G8/00 ,  B63G8/38

Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.

公开(公告)号：US11977201B2

公开(公告)日：2024-05-07

申请号：US17837059

申请日：2022-06-10

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Jialei Zhang ,  Shaolong Yang ,  Qin Zhang ,  Gong Xiang ,  Guohua Xu

IPC: G01V3/165 ,  B63G8/00 ,  B63G8/38

CPC classification number: G01V3/165 ,  B63G8/001 ,  B63G8/38 ,  B63G2008/004

Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.