کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8062397 1520632 2018 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
QPSO-model predictive control-based approach to dynamic trajectory tracking control for unmanned underwater vehicles
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
QPSO-model predictive control-based approach to dynamic trajectory tracking control for unmanned underwater vehicles
چکیده انگلیسی
In this paper, a model predictive control (MPC) method based on quantum-behaved particle swarm optimization (QPSO), combining with sliding mode control (SMC), is studied to solve the dynamic trajectory tracking problem of Unmanned Underwater Vehicle (UUV) in three-dimensional underwater environment. First, the kinematic controller based on QPSO-MPC is designed to obtain the velocity signal. QPSO limits the velocity of UUV within a specified range to handle the speed jump problem when compared with backstepping control. Then kinematic control is extended to dynamic control for verifying the feasibility of QPSO-MPC in the realistic dynamical UUV system. Here SMC is adopted in dynamic control because of its good robustness and anti-interference performance. The combination of kinematic and dynamic controllers can efficiently realize the trajectory tracking of UUV. The experimental simulation results prove that the algorithm proposed in this paper can solve the speed jump and the driven saturation caused by speed jump, and also can satisfy the propeller constraints of UUV.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 158, 15 June 2018, Pages 208-220
نویسندگان
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