扰动(海浪和海流)下无人水面航行器动力学鲁棒控制

2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2018-09-01 DOI:10.1109/ICEEE.2018.8533948

Manuel J. Velueta Guzman, J. Rullán-Lara, J. Hernández, H. Alazki

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引用次数: 1

摘要

在本文中，我们提出了USV(无人水面车辆)的动力学研究下的两种模拟环境扰动:海洋感应波和电流。研究了车辆的数学模型和描述环境扰动行为的方程。对该模型进行了三自由度的数值模拟，并提出了一种基于滑模控制(SMC)的鲁棒控制策略来抵消这种扰动对无人潜航器轨迹的影响。

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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Robust Control for the Dynamics of an Unmanned Surface Vehicle Under the Perturbations (Marine Waves and Currents)

In this paper we present the study of the dynamics of a USV (Unmanned Surface Vehicle) under the presence of two simulated environmental perturbations: marine induced waves and currents. The mathematical model of the vehicle is studied and the equations that describes the behavior of environmental perturbations are also described. A numerical simulation of the model considering the effects of this perturbations is carried out in three degrees of freedom and also a strategy of robust control based Sliding Mode Control (SMC) is developed for counteracting the effects of the perturbations over the trajectory of the USV.

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2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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