کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5474600 | 1520656 | 2017 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles
ترجمه فارسی عنوان
طراحی سه کنترل کننده قدرتمند همگرا که برای ردیابی مسیرهای وسیله نقلیه زیر آب خودمختار هستند
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
چکیده انگلیسی
This paper deals with the trajectory tracking problem of autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and time-varying external disturbances. Three exponentially convergent robust controllers, namely, the min-max type controller, the saturation type controller and the smooth transition type controller are proposed to drive an AUV to track a predefined trajectory. It is shown that the filtered tracking errors, position tracking errors and velocity tracking errors for the three proposed controllers are exponentially convergent. Moreover, all the above tracking errors for the three proposed controllers can be shaped by specific analytic expressions and such expressions illustrate how the transient responses of the above tracking errors can be modified by adjusting the control parameters. The characteristics of the three proposed controllers are summarized and demonstrated with numerical simulations. Theoretical comparison analysis and comparative simulations with the existing RISE-based controller of AUV are presented to show the effectiveness of the three proposed exponentially convergent robust controllers.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 134, 1 April 2017, Pages 157-172
Journal: Ocean Engineering - Volume 134, 1 April 2017, Pages 157-172
نویسندگان
Lei Qiao, Bowen Yi, Defeng Wu, Weidong Zhang,