SIA OpenIR  > 海洋机器人卓越创新中心
Alternative TitleSwitching Strategy of Dynamic Sliding Mode Control Based on Multiple Identification Model Set for Unmanned Semi-submersible Vehicle
周焕银; 刘亚平; 胡志强; 刘开周; 衣瑞文
Source Publication兵工学报
Indexed ByEI ; CSCD
EI Accession number20175204586537
Contribution Rank1
Funding Organization国家自然科学基金项目(51409047、61403150)
Keyword控制科学与技术 无人半潜水下机器人 辨识模型 动态滑模控制 控制品质
Other AbstractThe control parameters can not be provided for the model-based control algorithm,which leads to the undesirable control performances of the system since the depth motion model parameters regarding the unmanned semi-submersible vehicles ( USVs ) BQ-01 are unknown. For this purpose,a multi-identification model-based dynamic sliding mode control algorithm is presented for the investigation of system's control problem on the desired depth. In the proposed algorithm,the average-fitting-error method is used to reduce the excessive redundant model parameters,and thus the optimum model parameters is provided for the control algorithm by switching methods. And the state feedback method is used to bring about the chattering exponential decay of sliding mode controller so as to reduce the settling time. The experimental results of lake trials demonstrates that the proposed algorithm could offer the best model parameters for sliding mode control,and the dynamic sliding mode control with multi-identification models is capable of ensuring BQ-01 system to achieve the ideal control performance.
Citation statistics
Document Type期刊论文
Corresponding Author周焕银
Recommended Citation
GB/T 7714
周焕银,刘亚平,胡志强,等. 基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究[J]. 兵工学报,2017,38(11):2198-2206.
APA 周焕银,刘亚平,胡志强,刘开周,&衣瑞文.(2017).基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究.兵工学报,38(11),2198-2206.
MLA 周焕银,et al."基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究".兵工学报 38.11(2017):2198-2206.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于辨识模型集的无人半潜水下机器_省略_(642KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[周焕银]'s Articles
[刘亚平]'s Articles
[胡志强]'s Articles
Baidu academic
Similar articles in Baidu academic
[周焕银]'s Articles
[刘亚平]'s Articles
[胡志强]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[周焕银]'s Articles
[刘亚平]'s Articles
[胡志强]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于辨识模型集的无人半潜水下机器_省略_系统深度动态滑模控制切换策略研究.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.