Adaptive UKF based tracking control for unmanned Trimaran vehicles
文献类型：期刊论文
| 作者 | Peng Y(彭艳); Han JD(韩建达) ; Huang QJ(黄庆九)
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| 刊名 | International Journal of Innovative Computing, Information & Control
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| 出版日期 | 2009 |
| 卷号 | 5期号:10(B)页码:3505-3515 |
| 关键词 | Unmanned trimaran vehicles (UTV) Online parameter/disturbance estimation A novel adaptive Unscented Kalman Filter (AUKF) Exponential tracking controller |
| ISSN号 | 1349-4198 |
| 产权排序 | 1 |
| 中文摘要 | Trimaran which is constructed by a main centre hull and two small outer hulls has clear advantages over the normal single-hull surface vehicle. Main difficulty in the control design of Unmanned Trimaran Vehicles(UTV) is how to reject the hydrodynamic uncertainty and environmental disturbances. In this paper, a control scheme involving online parameter/disturbance estimation is proposed in order to reject the hydrodynamic uncertainty and environmental disturbances. Within the control structure, a novel adaptive Unscented Kalman Filter (A UKF) is constructed based on the master-slave structure. This intends to release the dependence of normal UKF on the priori knowledge of noise distribution, which is difficult to obtain in real systems. An AUKF-enhanced exponential tracking controller is further developed to realize the robustness with respect to the time-varying parameters and disturbances. Simulations conducted on the dynamics of a home-developed UTV test-bed demonstrate the performance of both the A UKF and the controller. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | MARINE VEHICLES ; GLOBAL TRACKING |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000271033100021 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7300]  |
| 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,Han JD,Huang QJ. Adaptive UKF based tracking control for unmanned Trimaran vehicles[J]. International Journal of Innovative Computing, Information & Control,2009,5(10(B)):3505-3515. |
| APA | Peng Y,Han JD,&Huang QJ.(2009).Adaptive UKF based tracking control for unmanned Trimaran vehicles.International Journal of Innovative Computing, Information & Control,5(10(B)),3505-3515. |
| MLA | Peng Y,et al."Adaptive UKF based tracking control for unmanned Trimaran vehicles".International Journal of Innovative Computing, Information & Control 5.10(B)(2009):3505-3515. |
入库方式： OAI收割
来源：沈阳自动化研究所
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