Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation

S. Martin, L. Whitcomb
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引用次数: 4

Abstract

This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) 3-degree-of-freedom (3-DOF) controller and one model-based 3-DOF controller designed to enable an underactuated underwater vehicle to perform exact X-Y position and velocity tracking. We report a comparative experimental evaluation of the two controllers in free motion experiments. We conclude that the model-based controller's mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers.
基于欠驱动非线性模型的水下航行器三自由度全耦合动力学模型跟踪控制的初步实验:理论与实验评价
本文报道了一种非基于模型的比例导数(PD) 3自由度(3-DOF)控制器和一种基于模型的3-DOF控制器的对比实验评估,该控制器旨在使欠驱动水下航行器能够进行精确的X-Y位置和速度跟踪。我们在自由运动实验中报告了两种控制器的比较实验评估。结果表明,对于耦合机动,基于模型的PD控制器的平均绝对位置和速度跟踪误差明显小于非基于模型的PD控制器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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