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Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV
Jiang ZB(姜志斌); Liu TJ(刘铁军); Xu HX(徐会希); Jia SL(贾松力); Cui J(崔健)
Department海洋信息技术装备中心
Conference Name2014 5th International Conference on Advances in Materials and Manufacturing, (ICAMMP 2014)
Conference DateDecember 20-21, 2014
Conference PlaceFuzhou, China
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceZurich-Durnten, Switzerland
2014
Pages720-724
Contribution Rank1
ISSN1660-9336
ISBN978-3-03835-421-5
KeywordAutonomous Underwater Vehicles Multivariable Decoupling Control Tc Control
AbstractThe diving plane motion of autonomous underwater vehicles (AUVs) is a complex multivariable nonlinear system with pitch-heave coupling. Tornambe's controllers (TCs) can online estimate the dynamic uncertainty regardless of the type of disturbance. The TCs for depth and pitch angle are adopted to achieve multivariable decoupling control by introducing virtual control inputs. The methodology can obtain fast and non-overshoot control of depth and pitch angle in the diving and floating process. Simulation results demonstrated the effectiveness of the proposed control scheme.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17331
Collection海洋信息技术装备中心
AffiliationShenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Jiang ZB,Liu TJ,Xu HX,et al. Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV[C]. Zurich-Durnten, Switzerland:Trans Tech Publications,2014:720-724.
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