稳定无人潜航器的充分六自由度控制

Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on Pub Date : 1900-01-01 DOI:10.1109/ISIE.2002.1026325

F. Mrad, A. S. Majdalani

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引用次数: 2

摘要

稳定型无人潜航器(uuv)具有良好的水下机动性，但在控制方面具有挑战性。将现有的基于Lyapunov的自适应非线性车辆控制器的自适应律替换为机器人中常见的复合自适应律，对其进行了改进。为了防止执行器饱和，提出了一种新的在线轨迹缩放算法，并设计了基于Matlab的图形模拟器作为测试平台，对其控制性能进行了评估。

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Adequate six degree of freedom control of astable unmanned underwater vehicles

Astable unmanned underwater vehicles (UUVs) are excellent in underwater maneuverability but challenging in terms of control. An existing Lyapunov based adaptive nonlinear vehicle controller is enhanced by replacing its adaptation law with composite adaptation common in robotics. A novel online trajectory scaling algorithm is developed to prevent actuator saturation and a Matlab based graphical simulator is designed to be a test bed on which control performance is evaluated.

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来源期刊

Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on

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