Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV
文献类型：会议论文
| 作者 | Jiang ZB(姜志斌) ; Liu TJ(刘铁军); Xu HX(徐会希); Jia SL(贾松力); Cui J(崔健)
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| 出版日期 | 2014 |
| 会议名称 | 2014 5th International Conference on Advances in Materials and Manufacturing, (ICAMMP 2014) |
| 会议日期 | December 20-21, 2014 |
| 会议地点 | Fuzhou, China |
| 关键词 | Autonomous Underwater Vehicles Multivariable Decoupling Control TC Control |
| 页码 | 720-724 |
| 中文摘要 | The diving plane motion of autonomous underwater vehicles (AUVs) is a complex multivariable nonlinear system with pitch-heave coupling. Tornambe's controllers (TCs) can online estimate the dynamic uncertainty regardless of the type of disturbance. The TCs for depth and pitch angle are adopted to achieve multivariable decoupling control by introducing virtual control inputs. The methodology can obtain fast and non-overshoot control of depth and pitch angle in the diving and floating process. Simulation results demonstrated the effectiveness of the proposed control scheme. |
| 产权排序 | 1 |
| 会议录 | Applied Mechanics and Materials
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| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Zurich-Durnten, Switzerland |
| 语种 | 英语 |
| ISSN号 | 1660-9336 |
| ISBN号 | 978-3-03835-421-5 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/17331]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 推荐引用方式 GB/T 7714 | Jiang ZB,Liu TJ,Xu HX,et al. Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV[C]. 见:2014 5th International Conference on Advances in Materials and Manufacturing, (ICAMMP 2014). Fuzhou, China. December 20-21, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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