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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)
Department机器人学研究室
Conference Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Conference DateDecember 5-10, 2014
Conference PlaceBali, Indonesia
Author of SourceHarbin 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
Source Publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages2232-2237
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152100876897
WOS IDWOS:000380399500372
Contribution Rank5
ISBN978-1-4799-7396-5
AbstractIn 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16116
Collection机器人学研究室
Corresponding AuthorYang CG(杨辰光)
Affiliation1.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
Recommended Citation
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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