自主水下航行器控制系统设计

2013 Latin American Robotics Symposium and Competition Pub Date : 2013-10-21 DOI:10.1109/LARS.2013.61

V. Pshikhopov, M. Medvedev, A. Gaiduk, B. Gurenko

{"title":"自主水下航行器控制系统设计","authors":"V. Pshikhopov, M. Medvedev, A. Gaiduk, B. Gurenko","doi":"10.1109/LARS.2013.61","DOIUrl":null,"url":null,"abstract":"This paper presents adaptive control system for the autonomous underwater vehicle. A nonlinear interrelated dynamic model of the underwater vehicle is considered. The novelty of developed control system is in use of positional-trajectory control method. This means feasibility of Autonomous Underwater Vehicle in complicated trajectories with relatively small computational resources. Adaptation of the control system is based on robust disturbances estimation. Modeling results validate proposed methods.","PeriodicalId":136670,"journal":{"name":"2013 Latin American Robotics Symposium and Competition","volume":"233 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"24","resultStr":"{\"title\":\"Control System Design for Autonomous Underwater Vehicle\",\"authors\":\"V. Pshikhopov, M. Medvedev, A. Gaiduk, B. Gurenko\",\"doi\":\"10.1109/LARS.2013.61\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents adaptive control system for the autonomous underwater vehicle. A nonlinear interrelated dynamic model of the underwater vehicle is considered. The novelty of developed control system is in use of positional-trajectory control method. This means feasibility of Autonomous Underwater Vehicle in complicated trajectories with relatively small computational resources. Adaptation of the control system is based on robust disturbances estimation. Modeling results validate proposed methods.\",\"PeriodicalId\":136670,\"journal\":{\"name\":\"2013 Latin American Robotics Symposium and Competition\",\"volume\":\"233 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"24\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 Latin American Robotics Symposium and Competition\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/LARS.2013.61\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 Latin American Robotics Symposium and Competition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/LARS.2013.61","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 24

摘要

提出了一种自主水下航行器的自适应控制系统。考虑了水下航行器的非线性相互关联动力学模型。所开发的控制系统的新颖之处在于采用了位置轨迹控制方法。这意味着以相对较少的计算资源实现复杂轨迹下自主水下航行器的可行性。控制系统的自适应基于鲁棒扰动估计。建模结果验证了所提出的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Control System Design for Autonomous Underwater Vehicle

This paper presents adaptive control system for the autonomous underwater vehicle. A nonlinear interrelated dynamic model of the underwater vehicle is considered. The novelty of developed control system is in use of positional-trajectory control method. This means feasibility of Autonomous Underwater Vehicle in complicated trajectories with relatively small computational resources. Adaptation of the control system is based on robust disturbances estimation. Modeling results validate proposed methods.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2013 Latin American Robotics Symposium and Competition

自引率

0.00%

发文量