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Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea
Yu JC(俞建成); Zhang AQ(张艾群); Wang XH(王晓辉); Wu BJ(吴宝举)
Department水下机器人研究室
Source PublicationChina Ocean Engineering
ISSN0890-5487
2007
Volume21Issue:1Pages:147-161
Indexed BySCI ; EI ; CSCD
EI Accession number20071910594402
WOS IDWOS:000245522600013
CSCD IDCSCD:3199765
Contribution Rank1
Funding OrganizationThis project is financially supported by the National High Technology Research ;; Development Programof China(863Program)(Grant No.2002AA401003)
KeywordManned Submersibles Neural Networks Adaptive Control Control Allocation Underwater Vehicles
AbstractThis paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China.The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module.A control energy cost function is used as the optimization criteria of the control allocation module,and weighted pseudo-inverse is used to find the solution of the control allocation problem.In the presence of bounded unknown disturbance and neural networks approximation error,stability of the closed-loop control system of manned submersible is proved with Lyaponov theory.The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.
Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Civil ; Engineering, Ocean ; Engineering, Mechanical ; Water Resources
WOS KeywordUNDERWATER VEHICLES ; THRUSTER REDUNDANCY
WOS Research AreaEngineering ; Water Resources
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7466
Collection水下机器人研究室
AffiliationShenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Yu JC,Zhang AQ,Wang XH,et al. Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea[J]. China Ocean Engineering,2007,21(1):147-161.
APA Yu JC,Zhang AQ,Wang XH,&Wu BJ.(2007).Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea.China Ocean Engineering,21(1),147-161.
MLA Yu JC,et al."Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea".China Ocean Engineering 21.1(2007):147-161.
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