{"title":"自主潜水器参数估计和控制的数据驱动方法","authors":"Tabassum Rasul, Koena Mukherjee","doi":"10.4274/jems.2024.10438","DOIUrl":null,"url":null,"abstract":"This paper showcases a data-driven non-linear adaptive controller design employing an unfalsification approach to attain optimal estimates for unknown parameters in an autonomous underwater vehicle (AUV). These estimates are applied to the controller to enable precise trajectory tracking. The controller design presented is capable of adapting to parametric changes and uncertainties while fulfilling the desired performance criteria using an effective parameter update method of unfalsification. The results were validated through simulations conducted using MATLAB/SIMULINK","PeriodicalId":41280,"journal":{"name":"Journal of Eta Maritime Science","volume":null,"pages":null},"PeriodicalIF":1.0000,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Data-Driven Approach for Parameter Estimation and Control of an Autonomous Underwater Vehicle\",\"authors\":\"Tabassum Rasul, Koena Mukherjee\",\"doi\":\"10.4274/jems.2024.10438\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper showcases a data-driven non-linear adaptive controller design employing an unfalsification approach to attain optimal estimates for unknown parameters in an autonomous underwater vehicle (AUV). These estimates are applied to the controller to enable precise trajectory tracking. The controller design presented is capable of adapting to parametric changes and uncertainties while fulfilling the desired performance criteria using an effective parameter update method of unfalsification. The results were validated through simulations conducted using MATLAB/SIMULINK\",\"PeriodicalId\":41280,\"journal\":{\"name\":\"Journal of Eta Maritime Science\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.0000,\"publicationDate\":\"2024-06-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Eta Maritime Science\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.4274/jems.2024.10438\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, MARINE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Eta Maritime Science","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.4274/jems.2024.10438","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
Data-Driven Approach for Parameter Estimation and Control of an Autonomous Underwater Vehicle
This paper showcases a data-driven non-linear adaptive controller design employing an unfalsification approach to attain optimal estimates for unknown parameters in an autonomous underwater vehicle (AUV). These estimates are applied to the controller to enable precise trajectory tracking. The controller design presented is capable of adapting to parametric changes and uncertainties while fulfilling the desired performance criteria using an effective parameter update method of unfalsification. The results were validated through simulations conducted using MATLAB/SIMULINK
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
