Adaptive control of unmanned surface vessels matching an optimized reference model
文献类型：会议论文
| 作者 | Yang CG(杨辰光); Cui RX(崔荣鑫); Li ZJ(李智军); Sharma, Sanjay; Zhao XG(赵新刚)
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| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
| 会议日期 | December 5-10, 2014 |
| 会议地点 | Bali, Indonesia |
| 页码 | 2232-2237 |
| 通讯作者 | 杨辰光 |
| 中文摘要 | In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 5 |
| 会议主办者 | Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems |
| 会议录 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-7396-5 |
| WOS记录号 | WOS:000380399500372 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16116]  |
| 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 | Yang CG,Cui RX,Li ZJ,et al. Adaptive control of unmanned surface vessels matching an optimized reference model[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Bali, Indonesia. December 5-10, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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