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Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle
Zhou HY(周焕银)1,2; Liu KZ(刘开周)2,3; Xu HL(徐红丽)2,3;  Feng XS(封锡盛)2,3
Department海洋机器人卓越创新中心
Source PublicationIEEE ACCESS
ISSN2169-3536
2019
Volume7Pages:94254-94262
Indexed BySCI ; EI
EI Accession number20193307305684
WOS IDWOS:000478676600006
Contribution Rank2
Funding OrganizationScience and Technology Foundation of Jiangxi Province ; National Natural Science Foundation of China ; Open Foundation of the State Key Laboratory of Robotics ; National Key Research and Development Program of China ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Instrument Developing Project of the Chinese Academy of Sciences ; Youth Innovation Promotion Association CAS ; Foundation of Jiangxi Educational Committee
KeywordDepth control performance feedback control rule-based supervision unmanned semi-submersible vehicle
AbstractThis paper considers the control of one unmanned semi-submersible vehicle (USV), named BQ-01, where the submersible depth cannot exceed a few meters in the presence of environmental disturbances. Consequently, the depth control performance measures and the rejection of disturbances, such as those due to sea waves, must be within pre-determined ranges to ensure maximum use of such vehicles. This paper develops a control scheme that combines the state feedback control and rule-based supervision for depth control, where the entries in the feedback control matrix are adjusted by rules formulated from the state errors in the USV diving plane. Surge speed also plays an important role in adjusting control parameters because of its coupled relationship with the state depth of the diving plane. The results from sea trials are given and confirm the potential of the design.
Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordAUTONOMOUS UNDERWATER VEHICLE ; FUZZY CONTROL ; PITCH
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectFoundation of Jiangxi Educational Committee[GJJ170484] ; Youth Innovation Promotion Association CAS[2011161] ; Instrument Developing Project of the Chinese Academy of Sciences[YZ201441] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDA13030203] ; National Key Research and Development Program of China[2017YFC1405401] ; National Key Research and Development Program of China[2016YFC0300604] ; National Key Research and Development Program of China[2016YFC0301601] ; Open Foundation of the State Key Laboratory of Robotics[2016-O05] ; National Natural Science Foundation of China[51409047] ; Science and Technology Foundation of Jiangxi Province[20181BAB202019] ; Science and Technology Foundation of Jiangxi Province[20181BAB202019] ; National Natural Science Foundation of China[51409047] ; Open Foundation of the State Key Laboratory of Robotics[2016-O05] ; National Key Research and Development Program of China[2016YFC0301601] ; National Key Research and Development Program of China[2016YFC0300604] ; National Key Research and Development Program of China[2017YFC1405401] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDA13030203] ; Instrument Developing Project of the Chinese Academy of Sciences[YZ201441] ; Youth Innovation Promotion Association CAS[2011161] ; Foundation of Jiangxi Educational Committee[GJJ170484]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25463
Collection海洋机器人卓越创新中心
Corresponding AuthorZhou HY(周焕银)
Affiliation1.School of Mechanical and Electronics Engineering, East China University of Technology, Nanchang 330013, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Zhou HY,Liu KZ,Xu HL,et al. Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle[J]. IEEE ACCESS,2019,7:94254-94262.
APA Zhou HY,Liu KZ,Xu HL,& Feng XS.(2019).Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle.IEEE ACCESS,7,94254-94262.
MLA Zhou HY,et al."Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle".IEEE ACCESS 7(2019):94254-94262.
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