SIA OpenIR  > 水下机器人研究室
UUV推进系统容错控制分配算法研究
Alternative TitleResearch on fault-tolerant control allocation algorithm of a UUV propulsion system
刘大勇; 俞建成; 李智刚
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2008
Volume24Issue:14Pages:222-224
Indexed ByCSCD
CSCD IDCSCD:3299474
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60605029)
Keyword水下机器人 奇异值分解 控制分配 容错控制
Abstract针对水下机器人(UUV)推进系统容错控制分配问题,本文提出了基于SVD分解(奇异值分解)与定点分配的混合算法。与传统的方法相比,它回避了求伪逆矩阵的问题,降低了计算量;能够满足推进器饱和约束限制。利用水下实验平台推进系统模型进行了仿真实验,验证了算法的正确性和有效性。
Other AbstractIn view of the propulsion system fault-tolerant control allocation problem of a UUV(unmanned underwater vehicle), the pa-per introduced a hybrid control allocation algorithm based on SVD and fixed—point allocation. It avoided computing the pseudo-in-verse matrix comparing with the traditional methods ,so it can be implemented with low computational complexity ;at the same time, the propellers were guaranteed to support the constraint condition. The simulation example of the submarine experiment platform propulsion system model was provided to demonstrate the effectiveness and correctness of the proposed methods.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3500
Collection水下机器人研究室
Corresponding Author刘大勇
Affiliation1.中国科学院沈阳自动化研究所机器人学重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
刘大勇,俞建成,李智刚. UUV推进系统容错控制分配算法研究[J]. 微计算机信息,2008,24(14):222-224.
APA 刘大勇,俞建成,&李智刚.(2008).UUV推进系统容错控制分配算法研究.微计算机信息,24(14),222-224.
MLA 刘大勇,et al."UUV推进系统容错控制分配算法研究".微计算机信息 24.14(2008):222-224.
Files in This Item: Download All
File Name/Size DocType Version Access License
WJSJ200814098.pdf(295KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘大勇]'s Articles
[俞建成]'s Articles
[李智刚]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘大勇]'s Articles
[俞建成]'s Articles
[李智刚]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘大勇]'s Articles
[俞建成]'s Articles
[李智刚]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: WJSJ200814098.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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