Selected optimal control from controller database according to diverse AUV motions
文献类型：会议论文
| 作者 | Zhou HY(周焕银); Liu KZ(刘开周) ; Feng XS(封锡盛)
|
| 出版日期 | 2011 |
| 会议名称 | 2011 9th World Congress on Intelligent Control and Automation (WCICA 2011) |
| 会议日期 | June 21-25, 2011 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | Algorithms Autonomous underwater vehicles Control theory Cost functions Database systems Intelligent control Optimization Submersibles Underwater equipment Water craft |
| 页码 | 425-430 |
| 中文摘要 | Autonomous Underwater Vehicle (AUV) system is one difficult controlled system because of its imprecise nonlinear math description and its complex disturbances. The motions of AUV are coupled with each other so the design of control law is stiff. In this paper, AUV model is departed into several subsystem models meanwhile some control laws are conceived for every subsystem. Furthermore, one controller database gathered with these control laws is designed to conveniently select some optimized control algorithms for different AUV motional requirement. These optimized algorithms are achieved based on minimizing the cost function of every subsystem and the robust capability to disturbances. Simulations results validate the controller database works well and show beautiful control results compared with other control algorithm with consistent control parameters. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | The IEEE Robotics and Automation Society; National Science Council; Cent. Intelligent Rob. Autom. Res. Natl. Taiwan Univ.; Robotics Society of Taiwan; Chinese Institute of Automation Engineers |
| 会议录 | Proceedings of the 9th World Congress on Intelligent Control and Automation (WCICA 2011)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-61284-700-9 |
| 源URL | [http://ir.sia.cn/handle/173321/7846]  |
| 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 | Zhou HY,Liu KZ,Feng XS. Selected optimal control from controller database according to diverse AUV motions[C]. 见:2011 9th World Congress on Intelligent Control and Automation (WCICA 2011). Taipei, Taiwan. June 21-25, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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