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SIA OpenIR  > 水下机器人研究室  > 会议论文
题名:
Research on dynamic modeling and predictive control of portable autonomous underwater vehicle
作者: Zeng JB(曾俊宝); Li S(李硕); Li YP(李一平); Liu XY(刘鑫宇); Wang XH(王晓辉); Liu J(刘健)
作者部门: 水下机器人研究室
通讯作者: Zeng JB(曾俊宝)
会议名称: OCEANS 2017 MTS/IEEE Anchorage
会议日期: September 18-21, 2017
会议地点: Anchorage, USA
会议录: OCEANS 2017 MTS/IEEE Anchorage
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2017
页码: 1-5
收录类别: EI
EI收录号: 20182405299368
产权排序: 1
ISBN号: 978-0-692-94690-9
关键词: portable AUV ; dynamic modeling ; GPC ; CFD
摘要: In order to accurately control the portable AUV, a dynamic modeling method based on computational fluid dynamics (CFD) and a improved Generalized Predictive Control (GPC) method were presented. First, the whole modeling process was described from two aspects: dynamic model derivation and model parameter identification. Second, the validity of the model and modeling method were tested by comparing the simulation data and experimental data. Finally, based on the mathematical model, the improved GPC method was used to control the portable AUV in the depth plane and heading plane, and the better control performance was obtained.
语种: 英语
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/22091
Appears in Collections:水下机器人研究室_会议论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3. University of New Brunswick, Fredericton, New Brunswick, China

Recommended Citation:
Zeng JB,Li S,Li YP,et al. Research on dynamic modeling and predictive control of portable autonomous underwater vehicle[C]. OCEANS 2017 MTS/IEEE Anchorage. Anchorage, USA. September 18-21, 2017.Research on dynamic modeling and predictive control of portable autonomous underwater vehicle.
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