基于状态相关Riccati方程(SDRE)-LQT的欠驱动AUV偏航角跟踪控制设计

JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA) Pub Date : 2019-11-13 DOI:10.21070/jeee-u.v3i2.2602

Muhammad Basri Hasan

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引用次数: 0

摘要

在实现水下航行器的偏航角控制跟踪时，采用基于线性二次跟踪的状态相关Riccati方程方法(sre - lqt)实现。该算法通过利用代数Riccati方程计算在线AUV的参数变化来计算横摆角的变化跟踪问题。使给予植物的控制信号能够跟随植物自身的变化情况。

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Yaw Angle Tracking Control Design of Underactuated AUV By Using State Dependent Riccati Equations (SDRE)-LQT

In realizing yaw angle control tracking on AUV, the use of the State Dependent Riccati Equations method based on Linear Quadratic Tracking (SDRE-LQT) is realized. This algorithm calculates changes in yaw angle tracking problems through calculation of parameter changes from online AUV with Algebraic Riccati Equations.So that the control signal given to the plant can follow the changing conditions of the plant itself.

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JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA)

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