SIA OpenIR  > 水下机器人研究室
Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles
Jiang ZB(姜志斌); Li S(李硕); Liu TJ(刘铁军)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1418-1423
收录类别EI ; CPCI(ISTP)
EI收录号20171403534908
WOS记录号WOS:000405724600239
产权排序1
ISBN号978-1-5090-4363-7
摘要This paper presents the dynamic model and control scheme of an active variable buoyancy system (VBS) actuator for Autonomous Underwater Vehicles (AUVs). Our aim is to design an active disturbance rejection controller for the AUV maneuvering in the vertical plane with two VBS actuators. Firstly, a vertical plane mathematical model of AUV and a dynamics model of the VBS are established, and the model consists of three degrees of freedom (DOF) motion components that are surge, heave and pitch. The control scheme is decoupled into two subsystems including diving control and pitch control. Then, two improved extended state observers (ESOs) are employed and made comparative researches. The controller with improved ESOs can achieve good noise attenuation and robustness. Finally, field trial and simulation results illustrate the effectiveness of the proposed control scheme.
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/173321/19684
专题水下机器人研究室
通讯作者Jiang ZB(姜志斌)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
GB/T 7714
Jiang ZB,Li S,Liu TJ. Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles[C]. New York:IEEE,2016:1418-1423.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Active Disturbance R(354KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Jiang ZB(姜志斌)]的文章
[Li S(李硕)]的文章
[Liu TJ(刘铁军)]的文章
百度学术
百度学术中相似的文章
[Jiang ZB(姜志斌)]的文章
[Li S(李硕)]的文章
[Liu TJ(刘铁军)]的文章
必应学术
必应学术中相似的文章
[Jiang ZB(姜志斌)]的文章
[Li S(李硕)]的文章
[Liu TJ(刘铁军)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。