Zhemin Huang

• Doctor of Engineering
• PhD Student at New York University

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 article focuses on global fuzzy consensus control of unknown second‐order nonlinear multi‐agent systems based on adaptive iterative learning scheme. In order to achieve global consensus, a replacement idea is introduced, where fuzzy systems are used as feedforward compensators to model unknown nonlinear dynamics relying on tracking signals. Co...

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 addresses the problem of roll control for X-rudder underwater vehicle, in which all of the rudders can be operated independently. To realize the roll control of X-rudder underwater vehicle, a roll control map for manual remote control and a motion controller with roll dynamics for autonomous control are proposed. For the motion controlle...