کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6867520 | 680432 | 2015 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust adaptive tracking control of underactuated ODINs under stochastic sea loads
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
Although environmental loads induced by waves, wind, and ocean currents on marine vessels are naturally stochastic, all existing works on controlling these vehicles treat these loads as deterministic. This treatment deteriorates the control performance in a practical implementation. This paper presents a method to design controllers that force an underactuated omni-directional intelligent navigator (ODIN), a spherical underwater vehicle, to track a reference trajectory in two-dimensional space. Motivated by the vehicle's steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for stability and control of stochastic systems, potential projection functions, and backstepping and Lyapunov's direct methods. Simulations are included to illustrate the effectiveness of the proposed results.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 72, October 2015, Pages 152-163
Journal: Robotics and Autonomous Systems - Volume 72, October 2015, Pages 152-163
نویسندگان
K.D. Do,