Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling
文献类型：会议论文
| 作者 | Liu XY(刘鑫宇) ; Li YP(李一平); Yan SX(阎述学); Feng XS(封锡盛)
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| 出版日期 | 2017 |
| 会议名称 | 2017 IEEE OES International Symposium on Underwater Technology, UT 2017 |
| 会议日期 | February 21-24, 2017 |
| 会议地点 | Haeundae, Busan, Korea |
| 关键词 | AUV L1 adaptive control CFD |
| 页码 | 1-7 |
| 中文摘要 | This paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose of this design is to adapt to the error caused by coupling between different controls channels as time-varying errors. In this paper, system identification method is not used to get the dynamic model directly, but to simplify the hydrodynamic model and quantize the effect caused by coupling as error of parameters. Computational-fluid-dynamics (CFD) method is used to build a hydrodynamic model to increase the experiment data and simulate the effect of coupling. And on this basis, An 1 adaptive controller can get enough resources to be build. In the final simulation, the acquired controller reveals better performance than an elaborately tuned PID controller. The 1 adaptive controller can handle the coupling better. The output of the controlled system can follow a response of a given transfer function, which benefits the controller design in outer loop. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | 2017 IEEE OES International Symposium on Underwater Technology, UT 2017
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-5266-0 |
| 源URL | [http://ir.sia.cn/handle/173321/20429]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Liu XY,Li YP,Yan SX,et al. Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling[C]. 见:2017 IEEE OES International Symposium on Underwater Technology, UT 2017. Haeundae, Busan, Korea. February 21-24, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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