Advanced Control Methods In Marine Robotics Applications

This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Advanced Control Systems: Theory and Applications provides an overview of advanced research lines in control systems as well as in design, development and implementation methodologies for perspective control systems and their components in different areas of industrial and special applications. It consists of extended versions of the selected papers presented at the XXV International Conference on Automatic Control “Automatics 2018” (September 18-19, 2018, Lviv, Ukraine) which is the main Ukrainian Control Conference organized by Ukrainian Association on Automatic Control (National member organization of IFAC) and Lviv National University “Lvivska Politechnica”. More than 100 papers were presented at the conference with topics including: mathematical problems of control, optimization and game theory; control and identification under uncertainty; automated control of technical, technological and biotechnical objects; controlling the aerospace craft, marine vessels and other moving objects; intelligent control and information processing; mechatronics and robotics; information measuring technologies in automation; automation and IT training of personnel; the Internet of things and the latest technologies. The book is divided into two main parts, the first concerning theory (7 chapters) and the second concerning applications (7 chapters) of advanced control systems. The first part “Advances in Theoretical Research on Automatic Control” consists of theoretical research results which deal with descriptor control impulsive delay systems, motion control in condition of conflict, inverse dynamic models, invariant relations in optimal control, robust adaptive control, bio-inspired algorithms, optimization of fuzzy control systems, and extremal routing problem with constraints and complicated cost functions. The second part “Advances in Control Systems Applications” is based on the chapters which consider different aspects of practical implementation of advanced control systems, in particular, special cases in determining the spacecraft position and attitude using computer vision system, the spacecraft orientation by information from a system of stellar sensors, control synthesis of rotational and spatial spacecraft motion at approaching stage of docking, intelligent algorithms for the automation of complex biotechnical objects, an automatic control system for the slow pyrolysis of organic substances with variable composition, simulation complex of hierarchical systems based on the foresight and cognitive modelling, and advanced identification of impulse processes in cognitive maps. The chapters have been structured to provide an easy-to-follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area. This book may be useful for researchers and students who are interesting in advanced control systems.

This book presents an authoritative collection of contributions by researchers from 16 different countries (Austria, Chile, Georgia, Germany, Mexico, Norway, P.R. of China, Poland, North Macedonia, Romania, Russia, Spain, Turkey, Ukraine, the United Kingdom and United States) that report on recent developments and new directions in advanced control systems, together with new theoretical findings, industrial applications and case studies on complex engineering systems. This book is dedicated to Professor Vsevolod Mykhailovych Kuntsevich, an Academician of the National Academy of Sciences of Ukraine, and President of the National Committee of the Ukrainian Association on Automatic Control, in recognition of his pioneering works, his great scientific and scholarly achievements, and his years of service to many scientific and professional communities, notably those involved in automation, cybernetics, control, management and, more specifically, the fundamentals and applications of tools and techniques for dealing with uncertain information, robustness, non-linearity, extremal systems, discrete control systems, adaptive control systems and others. Covering essential theories, methods and new challenges in control systems design, the book is not only a timely reference guide but also a source of new ideas and inspirations for graduate students and researchers alike. Its 15 chapters are grouped into four sections: (a) fundamental theoretical issues in complex engineering systems, (b) artificial intelligence and soft computing for control and decision-making systems, (c) advanced control techniques for industrial and collaborative automation, and (d) modern applications for management and information processing in complex systems. All chapters are intended to provide an easy-to-follow introduction to the topics addressed, including the most relevant references. At the same time, they reflect various aspects of the latest research work being conducted around the world and, therefore, provide information on the state of the art.

Thomas Glotzbach spotlights that navigation within marine robotics can benefit from cooperative teams in a way that justifies the increased effort to operate several vehicles at once. He features discussions of different scenarios, modeling of systems, and estimation algorithms for comparable situations. The chapter on the used methodologies may allow a reader with only basic knowledge in control theory to obtain deeper insight in advanced concepts such as observability and state estimation, even without any background in marine robotics.

This book introduces the reader to the hottest topics in current control sciences and robotics, as seen by scientists from Poland and other European countries. Volume 2 comprises 42 chapters, which specifically address topics connected to statistical and stochastic methods in control engineering applications, to optimization and quantum computing, to biological, medical, and ecological systems, to new applications of artificial intelligence and machine learning in automated and connected vehicles, to design and control of autonomous marine, robotics, and vehicles systems, and to other modern topics. The contributions were presented during XXI Polish Control Conference, held in Gliwice, Poland, from June 26 to 29, 2023. This book is extremely useful to all persons who want to know the latest trends in automation and robotics.

The biennial Congress of the Italian Society of Oral Pathology and Medicine (SIPMO) is an International meeting dedicated to the growing diagnostic challenges in the oral pathology and medicine field. The III International and XV National edition will be a chance to discuss clinical conditions which are unusual, rare, or difficult to define. Many consolidated national and international research groups will be involved in the debate and discussion through special guest lecturers, academic dissertations, single clinical case presentations, posters, and degree thesis discussions. The SIPMO Congress took place from the 17th to the 19th of October 2019 in Bari (Italy), and the enclosed copy of Proceedings is a non-exhaustive collection of abstracts from the SIPMO 2019 contributions.

In recent years, a considerable amount of effort has been devoted, both in industry and academia, towards the development of advanced methods of control theory with focus on its practical implementation in various fields of human activity such as space control, robotics, control applications in marine systems, control processes in agriculture and food production.Control Systems: Theory and Applications consists of selected best papers which were presented at XXIV International conference on automatic control “Automatics 2017” (September 13-15, 2017, Kyiv, Ukraine) organized by Ukrainian Association on Automatic Control (National member organization of IFAC – International Federation on Automatic Control) and National University of Life and Environmental Sciences of Ukraine. More than 120 presentations where discussed at the conference, with participation of the scientists from the numerous countries. The book is divided into two main parts, a first on Theory of Automatic Control (5 chapters) and the second on Control Systems Applications (8 chapters). The selected chapters provide an overview of challenges in the area of control systems design, modeling, engineering and implementation and the approaches and techniques that relevant research groups within this area are employing to try to resolve these.This book on advanced methods of control theory and successful cases in the practical implementation is ideal for personnel in modern technological processes automation and SCADA systems, robotics, space and marine industries as well as academic staff and master/research students in computerized control systems, automatized and computer-integrated systems, electrical and mechanical engineering.