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基于混合灵敏度的水下机器人鲁棒控制研究
Alternative TitleResearch on the mixed sensitive robust control of AUV
赵浩泉; 封锡盛; 刘开周
Department水下机器人研究室
Source Publication仪器仪表学报
ISSN0254-3087
2007
Volume28Issue:SPages:606-609
Contribution Rank1
Funding Organization中科院先进制造基地创新课题基金(F990406)资助项目
Keyword水下机器人 动力定位 鲁棒控制 混合灵敏度 加权函数
Abstract为了使水下机器人(AUV,autonomous underwater vehicle)在多环节不确定条件下满足水下作业时动力定位的控制精度要求,深入研究了混合灵敏度鲁棒控制中各加权函数的选取原则后,设计了基于混合灵敏度的 AUV 鲁棒控制器。通过 AUV 半物理仿真平台上的动力定位试验和控制算法对比试验,证明了所设计的鲁棒控制器对于水下机器人系统的外界扰动和参数变化不确定性具有良好的抑制作用,控制效果令人鼓舞。
Other AbstractIn order to fulfill high accurately control of AUV dynamic positioning on the condition of multiple uncertainties,the principle of each weight function wa deeply researched.Based on the mixed sensitive the- ory,a robust controller was designed for deep sea AUV.Dynamic positioning test and comparison test be- tween difference control algorism were carried out on the semi-physical simulation platform.The results showed that the controller designed took effect on the disturbance and parameter changing of AUV.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3554
Collection水下机器人研究室
Corresponding Author赵浩泉
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
3.海司航保部
Recommended Citation
GB/T 7714
赵浩泉,封锡盛,刘开周. 基于混合灵敏度的水下机器人鲁棒控制研究[J]. 仪器仪表学报,2007,28(S):606-609.
APA 赵浩泉,封锡盛,&刘开周.(2007).基于混合灵敏度的水下机器人鲁棒控制研究.仪器仪表学报,28(S),606-609.
MLA 赵浩泉,et al."基于混合灵敏度的水下机器人鲁棒控制研究".仪器仪表学报 28.S(2007):606-609.
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