کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5474334 | 1520657 | 2017 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Dynamic positioning of an uninhabited surface vehicle using state-dependent Riccati equation and pseudospectral method
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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
This paper proposed a novel control method for dynamic positioning of an uninhabited surface vehicle (USV). A state-dependent Riccati equation (SDRE) technique was introduced to deal with dynamic positioning problem of the USV. A new state-dependent coefficient (SDC) matrix was built to show the relationship between variables and satisfy the control inputs saturation for practical application. In order to solve the SDRE in real time, a semi-analytical formulation was derived by using Legendre-Gauss-Radau pseudospectral method. Simulation results show that the proposed method can be applied in real time and the USV can maintain its position and heading accurately and remains stable.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 133, 15 March 2017, Pages 215-223
Journal: Ocean Engineering - Volume 133, 15 March 2017, Pages 215-223
نویسندگان
Haibin Huang, Sanjay Sharma, Yufei Zhuang, Dianguo Xu,