Now showing items 21-25 of 25

    • Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013)
      In this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled ...
    • A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow 

      Chang, Dongsik; Wu, Wencen; Webster, Donald R.; Weissburg, Marc J.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We develop a plume tracking algorithm for a swarm of mobile sensing agents in turbulent flow. Inspired by blue crabs, we propose a stochastic model for plume spikes based on the Poisson counting process, which captures the ...
    • Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints 

      Malisoff, Michael; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We analyze the robustness of a class of controllers that enable three-dimensional curve tracking of free moving particles. By building a strict Lyapunov function and robustly forwardly invariant sets, we show input-to-state ...
    • Robust Geometric Formation Control of Multiple Autonomous 

      Yang, Huizhen; Wang, Chuanfeng; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-free ...
    • Dissipativity-Based Teleoperation with Time-Varying Communication Delays 

      Varnell, Paul; Zhang, Fumin (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      We analyze the effects of communication delays in teleoperation systems using dissipativity theory along with explicit models of the operator and robot. We utilize a simple model of the operator's behavior that describes ...