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题名: Adaptive control of unmanned surface vessels matching an optimized reference model
作者: 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: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 2232-2237
收录类别: EI
ISBN号: 9781479973965
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
产权排序: 5
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16116
Appears in Collections:机器人学研究室_会议论文

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