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In this paper, we consider a GI/Geo/1 queue with working vacations and vacation interruption. The server takes the original work at the lower rate rather than completely stopping during the vacation period. Meanwhile, we introduce vacation interruption policy: the server can come back to the normal working level once there are customers after a service(More)
This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop(More)
This paper analyzes a discrete-time batch arrival queue with working vacations. In a GeoX/G/1 system, the server works at a lower speed during the vacation period which becomes a lower speed operation period. This model is more appropriate for the communication systemswith the transmit units arrived in batches.We formulate the system as an embeddedMarkov(More)
This paper presents a neural network adaptive controller for diving control of an autonomous underwater vehicle (AUV). In general, while deriving the diving equations of an AUV, the pitch angle of the vehicle is often assumed to be small in the diving motion. This is a somewhat strong restricting condition in many practical applications, and would be broken(More)
This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of(More)
This paper presents an adaptive nonlinear controller for diving control of an autonomous underwater vehicle (AUV). So far, diving dynamics of an AUV has often been derived under various assumptions on the motion of the vehicle. Typically, the pitch angle of AUV has been assumed to be small in the diving plane. However, these kinds of assumptions may induce(More)
Since the dynamics of autonomous underwater vehicles (AUVs) are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high performance control system of an AUV is needed to have the capacities of learning and adaptation to the variations of the AUV’s dynamics. In this paper, a linearly parameterized neural network(More)