Active modeling based course control of unmanned surface vehicles
文献类型：期刊论文
| 作者 | Peng Y(彭艳); Huang QJ(黄庆九); He YQ(何玉庆) ; Han JD(韩建达)
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| 刊名 | ICIC Express Letters
 |
| 出版日期 | 2009 |
| 卷号 | 3期号:3B页码:579-584 |
| ISSN号 | 1881-803X |
| 产权排序 | 1 |
| 中文摘要 | Model uncertainties and external disturbances extensively exist in Unmanned Surface Vehicle (USV) systems, which will greatly deteriorate the autonomous ability. In this paper, a new kind of robust controller design strategy based on active modeling technique is proposed to attenuate the uncertainties pre-described in the coarse control of USV systems. Firstly, with detailed analysis, the uncertainties are introduced into the new-designed coarse dynamics model by using the concept of modeling errors; Secondly, Kalman filter is used to estimate simultaneously the modeling errors, which is subsequently used to design the robust controller; Finally, the new strategy is tested with respect to the unmanned trimaran vehicles system-Tri-0601 to show the feasibility and validity of it. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7272]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Peng Y,Huang QJ,He YQ,et al. Active modeling based course control of unmanned surface vehicles[J]. ICIC Express Letters,2009,3(3B):579-584. |
| APA | Peng Y,Huang QJ,He YQ,&Han JD.(2009).Active modeling based course control of unmanned surface vehicles.ICIC Express Letters,3(3B),579-584. |
| MLA | Peng Y,et al."Active modeling based course control of unmanned surface vehicles".ICIC Express Letters 3.3B(2009):579-584. |
入库方式： OAI收割
来源：沈阳自动化研究所
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