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Research on dynamic modeling and predictive control of portable autonomous underwater vehicle
Zeng JB(曾俊宝)1,2,3; Li S(李硕)1; Li YP(李一平)1; Liu XY(刘鑫宇)1,2; Wang XH(王晓辉)1; Liu J(刘健)1
作者部门水下机器人研究室
会议名称OCEANS 2017 MTS/IEEE Anchorage
会议日期September 18-21, 2017
会议地点Anchorage, USA
会议录名称OCEANS 2017 MTS/IEEE Anchorage
出版者IEEE
出版地NEW YORK
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
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22112
专题水下机器人研究室
所领导
通讯作者Zeng JB(曾俊宝)
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
推荐引用方式
GB/T 7714
Zeng JB,Li S,Li YP,et al. Research on dynamic modeling and predictive control of portable autonomous underwater vehicle[C]. NEW YORK:IEEE,2017:1-5.
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