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afismc

a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

auv-modeling-and-sim

This submission contains the files used in this video on modeling, simulation and control of an Autonomous Underwater vehicle - https://www.mathworks.com/videos/modeling-and-simulation-of-an-autonomous-underwater-vehicle-1586937688878.html. This submission models a 6-DoF autonomous underwater vehicle (AUV) and a position and velocity controller for the AUV. You can switch between low and high fidelity sensor and environment models based on your application needs.

examples-docs-moos

examples and documentation for MOOS-V10

igps

Standard NMEA GPS serial message parser.

mechine_learning_practice

吴恩达机器学习课后习题

modeling-and-simulation-of-an-auv-in-simulink

This repository contains a variety of demonstration example models associated with the Design, Modeling and Simulation of Autonomous Underwater Vehicles webinar and video series.

moos-ivp-enstabretagne

ENSTA Bretagne's MOOS-IvP repository: an autonomy platform based on the MOOS middleware

moos-ivp-yang

mss

Marine Systems Simulator (MSS)

pythonvehiclesimulator

The Python Vehicle Simulator is a supplement to the textbox; T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control. 2nd. Edition, Wiley. URL: www.fossen.biz/wiley

simulation-of-underactuated-auv-control-algorithms

MatLAB and Simulink simulation of different analytical methods of trajectory tracking and path following algorithms for Underactuated Autonomous Vehicles.

zju-clock-in

探究浙江大学健康打卡的原理与对抗策略

zju-ncov-hitcarder-sample

Sample of https://github.com/Long0x0/ZJU-nCov-Hitcarder.

zjuthesis

Zhejiang University Graduation Thesis LaTeX Template