کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1726776 | 1015133 | 2011 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust control for an autonomous underwater vehicle that suppresses pitch and yaw coupling
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Robust control for an autonomous underwater vehicle that suppresses pitch and yaw coupling Robust control for an autonomous underwater vehicle that suppresses pitch and yaw coupling](/preview/png/1726776.png)
چکیده انگلیسی
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output Hâ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 38, Issue 1, January 2011, Pages 197-204
Journal: Ocean Engineering - Volume 38, Issue 1, January 2011, Pages 197-204
نویسندگان
Jan Petrich, Daniel J. Stilwell,