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IET Cyber-Systems and Robotics 2019年第2期1卷 45-54页

作者： Biranchi Narayan Rath bidyadhar subudhi Department of Electrical Engineering National Institute of Technology RourkelaRourkela 769008India School of Electrical Sciences Indian Institute of Technology GoaPondaGoa-401403India

In this study,an extreme learning-based non-linear model predictive controller(NMPC)is proposed for path following planning of an autonomous underwater vehicle(AUV)using horizontal *** proposed controller comprises a kinematic controller and a dynamic *** kinematic controller is designed by using back-stepping approach whilst the dynamic controller is designed by employing the NMPC *** dynamics of the AUV is identified in real-time by employing an extreme learning machine(ELM)*** view of achieving improved performance of the ELM structure,its hidden layer parameters are optimally determined by applying Jaya optimisation *** resulting ELM model is then used to design a NMPC considering the constraint on rudder *** tracking performance of the proposed controller is compared with that of two recently reported control algorithms namely,H∞state feedback controller and inverse optimal self-tuning proportional-integral-derivative(PID)*** proposed controller is implemented using MATLAB and then in real-time on a prototype AUV developed in the authors’*** both the simulation and experimental results obtained,it is observed that the proposed controller exhibits superior tracking performance compared to both H∞state feedback controller and inverse optimal self-tuning PID controller.

关键词： Extreme underwater autonomous

Forecasting Global Solar Insolation Using the Ensemble Kalman Filter Based Clearness Index Model

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CSEE Journal of Power and Energy Systems 2022年第4期8卷 1087-1096页

作者： Pravat Kumar Ray bidyadhar subudhi Ghanim Putrus Mousa Marzband Zunaib Ali Department of Electrical Engineering National Institute of Technology RourkelaRourkela-769008India School of Electrical Sciences Indian Institute of Technology GoaGoa 403401India Department of Maths Physics and Electrical EngineeringNorthumbria UniversityUK

This paper describes a novel approach in developing a model for forecasting of global insolation on a horizontal *** the proposed forecasting model,constraints,such as latitude and whole precipitable water content in vertical column of that location,are *** parameters can be easily measurable with a global positioning system(GPS).The earlier model was developed by using the above datasets generated from different locations in *** model has been verified by calculating theoretical global insolation for different sites covering east,west,north,south and the central region with the measured values from the same *** model has also been validated on a region,from which data was not used during the development of the *** the model,clearness index coefficients(KT)are updated using the ensemble Kalman filter(EnKF)*** forecasting efficacies using the KT model and EnKF algorithm have also been verified by comparing two popular algorithms,namely the recursive least square(RLS)and Kalman filter(KF)*** minimum mean absolute percentage error(MAPE),mean square error(MSE)and correlation coefficient(R)value obtained in global solar insolation estimations using EnKF in one of the locations are 2.4%,0.0285 and 0.9866 respectively.

关键词： Clearness index ensemble Kalman filter extra-terrestrial irradiance forecasting global solar insolation

Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method

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International Journal of Automation and computing 2018年第3期15卷 299-309页

作者： Basant Kumar Sahu bidyadhar subudhi Madan Mohan Gupta Department of Electrical Engineering National Institute of Science and TechnologyBerhampur Department of Electrical Engineering National Institute of TechnologyRourkela Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan

In this paper, a new approach to stability analysis of nonlinear dynamics of an underactuated autonomous underwater vehicle（AUV） is presented. AUV is a highly nonlinear robotic system whose dynamic model includes coupled terms due to the hydrodynamic damping factors. It is difficult to analyze the stability of a nonlinear dynamical system through Routh＇s stability approach because it contains nonlinear dynamic parameters owing to hydrodynamic damping coefficients. It is also difficult to analyze the stability of AUVs using Lyapunov＇s criterion and LaSalle＇s invariance principle. In this paper, we proposed the extended-Routh＇s stability approach to verify the stability of such nonlinear dynamic systems. This extended-Routh＇s stability approach is much easier as compared to the other existing methods. Numerical simulations are presented to demonstrate the efficacy of the proposed stability verification of the nonlinear dynamic systems, e.g., an AUV system dynamics.

关键词： Routh's stability extended-Routh's stability autonomous underwater vehicle (AUV) underactuated system underwaterrobots.

A Comprehensive Review of Path Planning Algorithms for Autonomous Underwater Vehicles

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International Journal of Automation and computing 2020年第3期17卷 321-352页

作者： Madhusmita Panda Bikramaditya Das bidyadhar subudhi Bibhuti Bhusan Pati Department of Electronics and Telecommunication Veer Surendra Sai University of TechnologyBurla 768018India School of Electrical Sciences Indian Institute of TechnologyGoa 403401India Department of Electrical Engineering Veer Surendra Sai University of TecnlogyBurla 768018India

The underwater path planning problem deals with finding an optimal or sub-optimal route between an origin point and a termination point in marine *** underwater environment is still considered as a great challenge for the path planning of autonomous underwater vehicles(AUVs)because of its hostile and dynamic *** major constraints for path planning are limited data transmission capability,power and sensing technology available for underwater *** sea environment is subjected to a large set of challenging factors classified as atmospheric,coastal and *** on whether the impact of these factors can be approximated or not,the underwater environment can be characterized as predictable and unpredictable *** classical path planning algorithms based on artificial intelligence assume that environmental conditions are known apriori to the path *** the current path planning algorithms involve continual interaction with the environment considering the environment as dynamic and its effect cannot be *** planning is necessary for many applications involving *** are based upon planning safety routes with minimum energy cost and computation *** review is intended to summarize various path planning strategies for AUVs on the basis of characterization of underwater environments as predictable and *** algorithms employed in path planning of single AUV and multiple AUVs are reviewed in the light of predictable and unpredictable environments.

关键词： Autonomous underwater vehicle(AUV) cooperative motion formation control optimization path planning(PP)

A Combined Reinforcement Learning and Sliding Mode Control Scheme for Grid Integration of a PV System

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CSEE Journal of Power and Energy Systems 2019年第4期5卷 498-506页

作者： Aurobinda Bag bidyadhar subudhi Pravat Kumar Ray Department of Electrical Engineering National Institute of TechnologyRourkela-769008 School of Electrical Sciences Indian Institute of Technology GoaPonda-403401

The paper presents development of a reinforcement learning(RL)and sliding mode control(SMC)algorithm for a 3-phase PV system integrated to a *** PV system is integrated to grid through a voltage source inverter(VSI),in which PVVSI combination supplies active power and compensates reactive power of the local non-linear load connected to the point of common coupling(PCC).For extraction of maximum power from the PV panel,we develop a RL based maximum power point tracking(MPPT)*** instantaneous power theory(IPT)is adopted for generation reference inverter current(RIC).An SMC algorithm has been developed for injecting current to the local non-linear load at a reference *** RL-SMC scheme is implemented in both simulation using MATLAB/SIMULINK software and on a prototype PV *** performance of the proposed RL-SMC scheme is compared with that of fuzzy logic-sliding mode control(FL-SMC)and incremental conductance-sliding mode control(IC-SMC)*** the obtained results,it is observed that the proposed RL-SMC scheme provides better maximum power extraction and active power control than the FL-SMC and IC-SMC schemes.

关键词： Fuzzy logic incremental conductance instantaneous power theory reinforcement learning sliding mode controller

Vision-based tip position tracking control of two-link flexible manipulator

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IET Cyber-Systems and Robotics 2020年第2期2卷 53-66页

作者： Umesh Kumar Sahu Dipti Patra bidyadhar subudhi Department of Electrical Engineering National Institute of TechnologyRourkela 769008India Department of Electronics and Telecommunication G H Raisoni College of EngineeringNagpurMaharashtra-440016India School of Electrical Sciences Indian Institute of Technology GoaPondaGoa-401403India

Owing to the non-collocation of actuators and sensors in a flexible-link manipulator(FLM)it becomes difficult to achieve accurate tip position *** resolve this issue,a vision sensor is used for direct measurement of the tip position instead of employing the traditional mechanical *** the different visual servoing(VS)control schemes,image-based VS(IBVS)is more ***,there are many challenges in the IBVS scheme such as singularities in the interaction matrix and local minima in trajectories that affect the system performance in real-time *** this study,the moment-based new visual feature is selected to address the aforesaid issues that arise in the IBVS ***,a new two-time scale IBVS controller is developed for addressing the tip-tracking control problem of the two-link flexible manipulator(TLFM).In the proposed control scheme,the dynamics of the FLM is decomposed into two-time scale models,namely a slow subsystem and a fast *** performance and robustness of the proposed new two-time scale IBVS controller for TLFM are verified by pursuing simulation *** is observed from the obtained results that the proposed controller effectively stabilises the oscillatory dynamics and tracks the reference trajectory accurately.

关键词： subsystem scheme manipulator

An improved robust stability analysis for systems with two delays by extracting overlapping feature

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Journal of Control and Decision 2015年第2期2卷 124-141页

作者： Dushmanta K.Das Sandip Ghosh bidyadhar subudhi Department of Electrical and Electronics Engineering National Institute of Technology NagalandDimapurIndia Department of Electrical Engineering National Institute of Technology RourkelaRourkelaIndia

In this paper,a delay-dependent robust stability criterion is proposed for linear systems with two *** delay-dependent stable systems,the delays are very small in ***,they may overlap each *** overlapping information may be exploited to obtain a less conservative *** extract such information,a special type of simple Lyapunov–Krasovskii functional is *** derive the criterion in form of Linear Matrix inequalities,a matrix variable approach is *** numerical examples are presented to validate the less conservativeness of the proposed criterion.

关键词： time-delay system Lyapunov-Krasovskii functional delay-dependent stability