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基于结构奇异值的水下机器人鲁棒控制研究
Alternative TitleResearch on the Structure Singular Value Robust Control of Underwater Vehicle
刘开周; 郭威; 王晓辉; 封锡盛
Department水下机器人研究室
Conference Name2010 8th World Congress on Intelligent Control and Automation (WCICA 2010)
Conference DateJuly 7-9, 2010
Conference PlaceJinan, China
Author of SourceIEEE
Source Publication2010 8th World Congress on Intelligent Control and Automation (WCICA 2010)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2010
Pages6446-6450
Indexed ByEI ; CPCI(ISTP)
EI Accession number20104313325151
WOS IDWOS:000295959507032
Contribution Rank1
ISBN978-1-4244-6712-9
Keyword载人潜水器 动力定位 鲁棒控制 混合灵敏度 结构奇异值
Abstract为了使载人潜水器(HOV, Human Occupied Vehicle)在多环节不确定条件下满足动力定位的控制精度要求,和克服基于混合灵敏度鲁棒控制的保守性,设计了基于结构奇异值的鲁棒控制器。通过HOV半物理仿真平台上的控制算法对比试验,证明了所设计的结构奇异值鲁棒控制器不但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而且克服了∞ H 鲁棒控制的保守性,控制效果令人鼓舞。
Other AbstractIn order to fulfill high accurately control of HOV' dynamic positioning on the condition of multiple uncertainties, and overcome the guarantee of the H(infinity) robust controller, a robust controller based on structure singular value theory was designed for deep sea HOV. Dynamic positioning test and comparison test between difference control arithmetic were carried out on the semi-physical simulation platform. The results showed that the controller designed take effect on the disturbance and parameter changing of HOV.
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7859
Collection水下机器人研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
GB/T 7714
刘开周,郭威,王晓辉,等. 基于结构奇异值的水下机器人鲁棒控制研究[C]//IEEE. Piscataway, NJ, USA:IEEE,2010:6446-6450.
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