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题名: Hardware design and UKF-based tracking control design of Ummanned Trimaran Surface Vehicle
作者: Peng Y(彭艳) ; Zhou B(周波) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期: December 15-18, 2007
会议地点: Sanya, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 1618-1623
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1761-2
关键词: Unmanned Trimaran Surface Vehicle ; Unscented Kalman Filter ; tracking controls ; parameter estimation
摘要: This paper focuses on the process of hardware selection in the design of an Unmanned Trimaran Surface Vehicle (UTSV) and a control scheme design of model-scaled UTSV. The controller development is based on Unscented Kalman Filter (UKF) and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift due to disturbances induced by wave, wind and ocean-current. Along the way of tracking control, we obtain a new stability result for nonlinear underactuated systems with non-vanishing uncertainties. Simulations conducted with respect to the tracldng control of unmanned ship illustrate the effectiveness of our proposed controller.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8727
Appears in Collections:机器人学研究室_会议论文

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