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Adaptive control of unmanned surface vessels matching an optimized reference model
Yang CG(杨辰光); Cui RX(崔荣鑫); Li ZJ(李智军); Sharma, Sanjay; Zhao XG(赵新刚)
作者部门机器人学研究室
会议名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期December 5-10, 2014
会议地点Bali, Indonesia
会议主办者Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码2232-2237
收录类别EI ; CPCI(ISTP)
EI收录号20152100876897
WOS记录号WOS:000380399500372
产权排序5
ISBN号978-1-4799-7396-5
摘要In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16116
专题机器人学研究室
通讯作者Yang CG(杨辰光)
作者单位1.MOE Key Lab of Autonomous System and Network Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
2.Center for Robotics and Neural Systems, Plymouth University, Plymouth, United Kingdom
3.School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China
4.School of Marine Science and Engineering, University of Plymouth, Plymouth, United Kingdom
5.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
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GB/T 7714
Yang CG,Cui RX,Li ZJ,et al. Adaptive control of unmanned surface vessels matching an optimized reference model[C]//Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems. Piscataway, NJ, USA:IEEE,2014:2232-2237.
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