具有自适应特性的自主水下航行器运动控制

Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94) Pub Date : 1994-07-19 DOI:10.1109/AUV.1994.518637

Naomi Ehrich Leonard, P. Krishnaprasad

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引用次数: 7

摘要

在自动水下航行器(AUV)中，当执行器发生故障时，尽管控制权限发生了变化，但仍然可以保持其可控性。然而，一个期望必须改变前馈运动脚本(计划)。在这里，我们提出了一些工具来讨论AUV控制系统前馈路径中的这种自适应特征。我们将自己局限于运动学模型，并在AUV的“停车机动”示例中给出主要思想的说明。

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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Motion control of an autonomous underwater vehicle with an adaptive feature

In the event of an actuator failure in an autonomous underwater vehicle (AUV), it is possible to maintain controllability despite the change in control authority. One, however, expects to have to change the feedforward motion script (plan). Here we present tools to discuss such an adaptive feature in the feedforward path of an AUV control system. We confine ourselves to kinematic models and give an illustration of the main ideas in an example of a "parking maneuver" for an AUV.

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Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)

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