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Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling
Liu XY(刘鑫宇); Li YP(李一平); Yan SX(阎述学); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name2017 IEEE OES International Symposium on Underwater Technology, UT 2017
Conference DateFebruary 21-24, 2017
Conference PlaceHaeundae, Busan, Korea
Source Publication2017 IEEE OES International Symposium on Underwater Technology, UT 2017
PublisherIEEE
Publication PlaceNEW YORK
2017
Pages1-7
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171803615728
WOS IDWOS:000403146800054
Contribution Rank1
ISBN978-1-5090-5266-0
KeywordAuv L1 Adaptive Control Cfd
AbstractThis paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose of this design is to adapt to the error caused by coupling between different controls channels as time-varying errors. In this paper, system identification method is not used to get the dynamic model directly, but to simplify the hydrodynamic model and quantize the effect caused by coupling as error of parameters. Computational-fluid-dynamics (CFD) method is used to build a hydrodynamic model to increase the experiment data and simulate the effect of coupling. And on this basis, An 1 adaptive controller can get enough resources to be build. In the final simulation, the acquired controller reveals better performance than an elaborately tuned PID controller. The 1 adaptive controller can handle the coupling better. The output of the controlled system can follow a response of a given transfer function, which benefits the controller design in outer loop.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20429
Collection水下机器人研究室
Corresponding AuthorLiu XY(刘鑫宇)
Affiliation1.University of Chinese Academy of Sciences, Beijing, 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Liu XY,Li YP,Yan SX,et al. Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling[C]. NEW YORK:IEEE,2017:1-7.
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