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Identification state feedback control for the depth control of the studied underwater semi-submersible vehicle
Zhou HY(周焕银); Li YP(李一平); Hu ZQ(胡志强); Li W(李为)
Department水下机器人研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages875-880
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187589
WOS IDWOS:000380502300166
Contribution Rank2
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordUnmanned Semi-submersible Vehicle Identification Control Multi-model Switching Technology Depth Control Sea Trial
AbstractThis study focuses on the depth control of an unmanned semi-submersible vehicle (USV), the submersible depth of which should not exceed 3 meters to make the depth control performance robust to environmental disturbances. Depth control performance, including overshoot values and static state error of depth, should be limited within pre-determined limits; otherwise, a venture issue may occur in the USV system. Therefore, achieving the desired performance even with unexpected sea wave disturbances to the USV system remains a challenge. Moreover, some model parameters are unknown. The control parameters of the improved identification state feedback control are presented for the USV diving plane control. Lake trials are performed to validate that the suggested controller has good control performances and strong immunity to couple state surge speed and the lake environments.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18532
Collection水下机器人研究室
Affiliation1.Jiangxi Engineering Research Center of Process and Equipment for Renewable Energy, East China Institute of Technology, Nanchang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Zhou HY,Li YP,Hu ZQ,et al. Identification state feedback control for the depth control of the studied underwater semi-submersible vehicle[C]. Piscataway, NJ, USA:IEEE,2015:875-880.
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