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欠驱动自主水下机器人三维路径跟踪控制
Alternative Title3D Path-Following of Underactuated Autonomous Underwater Vehicles
田宇; 张艾群; 李伟
Department水下机器人研究室
Conference Name2011 30th Chinese Control Conference
Conference DateJuly 22-24, 2011
Conference PlaceYantai, China
Author of SourceAcademy of Mathematics and Systems Science, CAS; IEEE Control Systems Society; IEEE Industrial Electronics Society; The Society of Instr. and Contr. Engineers of Japan; Institute of Control, Robotics and Systems of Korea
Source PublicationProceedings of the 30th Chinese Control Conference, CCC 2011
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2011
Pages3456-3461
Indexed ByEI ; CPCI(ISTP)
EI Accession number20113914368713
WOS IDWOS:000312652103115
Contribution Rank1
ISBN978-988-17255-9-2
Keyword欠驱动自主水下机器人 三维路径跟踪 制导函数 模糊控制
Abstract针对欠驱动自主水下机器人(AUV)三维路径跟踪,提出采用AUV广泛应用的PID运动控制器作为路径跟踪控制器,研究三维路径跟踪制导函数设计.采用Serret-Frenet坐标系描述路径跟踪误差,研究了三维路径跟踪制导函数设计; 在此基础上,基于解析形式描述的单输入模糊控制器,提出了一种改进的制导函数并研究了其设计方法,以提高AUV基于线性PID控制器的路径跟踪控制系统的性能.最后利用欠驱动AUV六自由度非线性动力学模型进行仿真研究,结果表明利用AUV已有的PID运动控制器和提出的改进的三维路径跟踪制导函数,AUV可以获得很好的路径跟踪性能.  
Language中文
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7861
Collection水下机器人研究室
Corresponding Author田宇
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
田宇,张艾群,李伟. 欠驱动自主水下机器人三维路径跟踪控制[C]//Academy of Mathematics and Systems Science, CAS; IEEE Control Systems Society; IEEE Industrial Electronics Society; The Society of Instr. and Contr. Engineers of Japan; Institute of Control, Robotics and Systems of Korea. Piscataway, NJ, USA:IEEE Computer Society,2011:3456-3461.
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