Research on dynamic modeling and predictive control of portable autonomous underwater vehicle
文献类型：会议论文
| 作者 | Liu XY(刘鑫宇); Li YP(李一平); Wang XH(王晓辉); Liu J(刘健); Zeng JB(曾俊宝); Li S(李硕); Zhou PP(周培培) ; Luo HB(罗海波)
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| 出版日期 | 2017 |
| 会议名称 | OCEANS 2017 MTS/IEEE Anchorage |
| 会议日期 | September 18-21, 2017 |
| 会议地点 | Anchorage, USA |
| 关键词 | portable AUV dynamic modeling GPC CFD |
| 页码 | 1-5 |
| 通讯作者 | Zeng JB(曾俊宝) |
| 中文摘要 | In order to accurately control the portable AUV, a dynamic modeling method based on computational fluid dynamics (CFD) and a improved Generalized Predictive Control (GPC) method were presented. First, the whole modeling process was described from two aspects: dynamic model derivation and model parameter identification. Second, the validity of the model and modeling method were tested by comparing the simulation data and experimental data. Finally, based on the mathematical model, the improved GPC method was used to control the portable AUV in the depth plane and heading plane, and the better control performance was obtained. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2017 MTS/IEEE Anchorage
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-0-692-94690-9 |
| 源URL | [http://ir.sia.cn/handle/173321/22091]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 通讯作者 | Zhou PP(周培培) |
| 作者单位 | 1.University of New Brunswick, Fredericton, New Brunswick, China 2.University of Chinese Academy of Sciences, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Liu XY,Li YP,Wang XH,et al. Research on dynamic modeling and predictive control of portable autonomous underwater vehicle[C]. 见:OCEANS 2017 MTS/IEEE Anchorage. Anchorage, USA. September 18-21, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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