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Diving control of autonomous underwater vehicle based on cascade control and tracking differentiator
Jiang ZB(姜志斌); Liu TJ(刘铁军); Xu HX(徐会希); Wang, Fuli
Department水下机器人研究室
Conference NameOCEANS 2016 - Shanghai
Conference DateApril 10-13, 2016
Conference PlaceShanghai, China
Source PublicationOCEANS 2016 - Shanghai
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages1-4
Indexed ByEI ; CPCI(ISTP)
EI Accession number20162902613146
WOS IDWOS:000386521800222
Contribution Rank1
ISSN0197-7385
ISBN978-1-4673-9724-7
KeywordAutonomous Underwater Vehicle Tracking Differentiator Cascade Control Diving Control
AbstractThis paper proposes a novel diving plane control scheme for autonomous underwater vehicle (AUV) based on tracking differentiator (TD) and cascade control (CC). The outer loop controller and inner loop controller adopt PI and P, respectively. Firstly, the mathematical model of AUV is established. The model consists of two parts: one is the depth model, and the other is the pitch model. Then, both controllers are designed by using CC with the tracking differentiator. The TD can filter the white noise of input signals and make the noise have little influence on control performance. Simulation results demonstrate the effectiveness of the proposed method.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18776
Collection水下机器人研究室
Corresponding AuthorJiang ZB(姜志斌)
AffiliationShenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Jiang ZB,Liu TJ,Xu HX,et al. Diving control of autonomous underwater vehicle based on cascade control and tracking differentiator[C]. Piscataway, NJ, USA:IEEE,2016:1-4.
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