Kan Xu

• Huazhong University of Science and Technology

To address the path planning problem for automated guided vehicles (AGVs) in challenging and complex industrial environments, a hybrid optimization approach is proposed, integrating a Kalman filter with grey wolf optimization (GWO), as well as incorporating partially matched crossover (PMX) mutation operations and roulette wheel selection. Paths ar...

In this study, we present a novel dual-loop robust trajectory tracking framework for autonomous underwater vehicles, with the objective of enhancing their performance in underwater searching tasks amidst oceanic disturbances. Initially, a real-world AUV experiment is conducted to validate the efficacy of a cross-rudder AUV configuration in maintain...

To address the search-and-docking problem in multi-stage prescribed performance switching (MPPS) scenarios, this paper presents a novel compound control method for three-dimensional (3D) underwater trajectory tracking control of unmanned underwater vehicles (UUVs) subjected to unknown disturbances. The proposed control framework can be divided into...

This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. The control objective is divided into three sub-objectives: motion tracking, horizontal displacement...

In this article, a novel adaptive robust trajectory tracking framework with roll control is created for a X-Rudder autonomous underwater vehicle (XAUV) subjects to system nonlinearities, unknown disturbances, and complex actuator dynamics. First, a roll control law is introduced to the kinematics control loop, and the hyperbolic-tangent Line-of-sig...

This paper proposes a novel three-dimensional trajectory tracking control methodology for a heterogeneous X-rudder autonomous underwater vehicle (XAUV) that can achieve finite-time convergence, complex actuator dynamics handling, and energy-efficient optimized rudder allocation. Under a compound robust control scheme, the trajectory tracking proble...

This paper investigates the problem of trajectory tracking control for a X rudder autonomous underwater vehicle (AUV) subjects to nonlinearities, uncertainties, and complex actuator dynamics. Under an adaptive energy-efficient tracking control scheme, the trajectory tracking problem is decomposed into kinematics and dynamics control. In kinematics...

This paper presents an optimal robust control method for trajectory tracking of a X-rudder autonomous underwater vehicle (AUV) subjects to velocity sensor failures and uncertainties. Two reduced-order extended state observers (ESOs) are designed to estimate the surge and heave velocities, and the estimated values are used to replace all the linear...

This paper focuses on the dynamic modeling, controller design, and simulation verification of a new cable-driven underwater vehicle model system, which is proposed for future application on a tension leg platform. Compared with conventional underwater vehicles, the proposed cable-driven underwater vehicle model system has unique structure and subje...

This paper addresses the design of an improved line-of-sight (LOS) based adaptive trajectory tracking controller for an under-actuated AUV subjects to highly coupled nonlinearities, ocean currents-induced uncertainties, and input saturation. The influences of ocean currents on the AUV are expressed in a comprehensive way such that both the kinemati...

This paper focuses on the modeling, diving controller design, and experiment of a special cable-driven underwater parallel platform with eight-cable coupling drive structure. Kinematic and dynamic models of the platform are established utilizing a simplified approach, and the hydraulic driven control model is derived based on joint-space method. To...