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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)
作者部门水下机器人研究室
会议名称2017 IEEE OES International Symposium on Underwater Technology, UT 2017
会议日期February 21-24, 2017
会议地点Haeundae, Busan, Korea
会议录名称2017 IEEE OES International Symposium on Underwater Technology, UT 2017
出版者IEEE
出版地NEW YORK
2017
页码1-7
收录类别EI ; CPCI(ISTP)
EI收录号20171803615728
WOS记录号WOS:000403146800054
产权排序1
ISBN号978-1-5090-5266-0
关键词Auv L1 Adaptive Control Cfd
摘要This 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.
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/173321/20429
专题水下机器人研究室
通讯作者Liu XY(刘鑫宇)
作者单位1.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
推荐引用方式
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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