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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
Department水下机器人研究室
Conference NameOCEANS 2017 MTS/IEEE Anchorage
Conference DateSeptember 18-21, 2017
Conference PlaceAnchorage, USA
Source PublicationOCEANS 2017 MTS/IEEE Anchorage
PublisherIEEE
Publication PlaceNEW YORK
2017
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20182405299368
WOS IDWOS:000455012000044
Contribution Rank1
ISBN978-0-692-94690-9
KeywordPortable Auv Dynamic Modeling Gpc Cfd
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22112
Collection水下机器人研究室
Corresponding AuthorZeng JB(曾俊宝)
Affiliation1.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
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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