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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
作者部门水下机器人研究室
会议名称OCEANS 2016 - Shanghai
会议日期April 10-13, 2016
会议地点Shanghai, China
会议录名称OCEANS 2016 - Shanghai
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码1-4
收录类别EI ; CPCI(ISTP)
EI收录号20162902613146
WOS记录号WOS:000386521800222
产权排序1
ISSN号0197-7385
ISBN号978-1-4673-9724-7
关键词Autonomous Underwater Vehicle Tracking Differentiator Cascade Control Diving Control
摘要This 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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18776
专题水下机器人研究室
通讯作者Jiang ZB(姜志斌)
作者单位Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
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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