کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1727176 | 1520780 | 2007 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust trajectory control of underwater vehicles using time delay control law
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 34, Issues 5–6, April 2007, Pages 842–849
Journal: Ocean Engineering - Volume 34, Issues 5–6, April 2007, Pages 842–849
نویسندگان
R. Prasanth Kumar, A. Dasgupta, C.S. Kumar,