Robust trajectory control of underwater vehicles using time delay control law
Robust trajectory control of underwater vehicles using time delay control law
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DOI：
10.1016/j.oceaneng.2006.04.003
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发表时间：
2007-04-01
影响因子：
5
通讯作者：
Kumar, C. S.
中科院分区：
文献类型：
--
作者：
Kumar, R. Prasanth;Dasgupta, A.;Kumar, C. S.
提出了一种基于系统动力学直接估计的水下机器人鲁棒轨迹控制方法。所提出的控制器可以令人满意地工作在严重的不确定性，这是经常遇到的情况下，水下航行器控制。通过延迟加速度和控制输入的反馈近似抵消了被控对象的动态特性。不确定项的界的知识是不需要的。它表明，只有刚体惯性矩阵是足够的设计控制器。该控制律概念简单，计算容易实现。控制器的有效性证明通过模拟和实施问题进行了讨论。(C)2006爱思唯尔有限公司保留所有权利。
A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. (C) 2006 Elsevier Ltd. All rights reserved.