Yanyun Wang
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Yanyun Wang has a total of 5 co-authors. Here are the top co-authors by number of shared publications:
- Haosu Zhang
School of Ocean Engineering and Technology, Sun Yat-sen University, Zhuhai, China
1 shared publication - Jianming Miao
School of Ocean Engineering and Technology, Sun Yat-sen University, Zhuhai, China
1 shared publication - Qichao Chen
School of Ocean Engineering and Technology, Sun Yat-sen University, Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519000, China
1 shared publication - Wenchao Liu
School of Ocean Engineering and Technology, Sun Yat-sen University, Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519000, China
1 shared publication - Xingyu Sun
School of Ocean Engineering and Technology, Sun Yat-sen University, and Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai, Guangdong, China
1 shared publication
Latest Publications
- Open Access
Robust Path-Following Control for AUV under Multiple Uncertainties and Input Saturation
In this paper, a robust path-following control strategy is proposed to deal with the path-following problem of the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation, and the effectiveness of the proposed control strategy is verified by semi-physical simulation experiments. Firstly, the control laws are constructed based on the traditional backstepping method; the multiple uncertainties are treated as lumped uncertainties, which can be estimated and eliminated by the employed extended state observers (ESOs). In addition, the influence of input saturation can be compensated by the designed auxiliary dynamic compensators. Secondly, to simplify controller design and address the “complexity explosion”, two command filters are used to obtain the estimated value of the unknown sideslip angular velocity and the desired yaw angular acceleration, respectively. Finally, the superiority and robustness of the proposed control strategy are verified through computer simulation. A semi-physical simulation experiment platform is built based on the NI Compact cRIO-9068 and PLC S7-1200 to further demonstrate the effectiveness of the proposed control strategy.
Open AccessRobust Path-Following Control for AUV under Multiple Uncertainties and Input Saturation
In this paper, a robust path-following control strategy is proposed to deal with the path-following problem of the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation, and the effectiveness of the proposed control strategy is verified by semi-physical simulation experiments. Firstly, the control laws are constructed based on the traditional backstepping method; the multiple uncertainties are treated as lumped uncertainties, which can be estimated and eliminated by the employed extended state observers (ESOs). In addition, the influence of input saturation can be compensated by the designed auxiliary dynamic compensators. Secondly, to simplify controller design and address the “complexity explosion”, two command filters are used to obtain the estimated value of the unknown sideslip angular velocity and the desired yaw angular acceleration, respectively. Finally, the superiority and robustness of the proposed control strategy are verified through computer simulation. A semi-physical simulation experiment platform is built based on the NI Compact cRIO-9068 and PLC S7-1200 to further demonstrate the effectiveness of the proposed control strategy.