کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
710670 892116 2016 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal Autopilot and Guidance of the ROV: SAGA
ترجمه فارسی عنوان
خلبان اتوماتیک بهینه و ارشاد از ROV: SAGA
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
چکیده انگلیسی

:In this study, an optimal autopilot algorithm is developed for 3D motion of SAGA which is an unmanned underwater survey vehicle. Firstly, a nonlinear mathematical model for SAGA is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers are designed for 3D motion which is realized by a suitable combination of right, left and vertical thrusters. The optimal control problem is that the vehicle is supposed to reach the desired position and rotation with desired velocity by consuming minimum energy. This problem is solved with a genetic algorithm. All of this study is performed in a Matlab/Simulink environment.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 3, 2016, Pages 401–406
نویسندگان
, , ,