کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8065252 | 1520679 | 2016 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Precise trajectory control for an inspection class ROV
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کلمات کلیدی
EKFSBLDVLROVNEDWRTDoppler velocity logwith respect to - با توجه بهIMU - جنبش اسلامی ازبکستانSliding mode - حالت کشوییGuidance - راهنماییAdaptive - سازگاریControl system - سیستم کنترلextended Kalman filter - فیلتر کلمن را گسترش دادInertial measurement unit - واحد اندازه گیری درونیUniformly ultimately bounded - یکنواخت در نهایت محدود شد
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
This work addresses the design, implementation and testing of a new precision guidance and control system for an inspection class remotely operated underwater vehicle (ROV). A new multi-input multi-output control law, composed of a model-based equivalent control signal and two adaptive signals, is presented. In the controller, the first adaptive signal is a PID signal with a novel adaptation law that enhances the controller performance and allows efficient fine tuning of the controller. The second adaptive signal continuously estimates the upper bound on the lumped uncertainty vector and acts as a corrective term for the equivalent control law. A Lyapunov based guidance algorithm is implemented that can tolerate significant uncertainties in the system kinematics. The effectiveness of the system on an ROV is demonstrated through field trials in sheltered waters. For the experimental work, an extended Kalman filter is used to for navigation, blending the on-board sensor measurements with a process model to produce an estimate of the vehicle dynamics. The collective guidance and navigation system are validated using high precision optical motion capture data. The system achieves decimetre-level precision, significantly extending the capabilities of the ROV for tasks requiring high precision position and velocity control.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 111, 1 January 2016, Pages 508-523
Journal: Ocean Engineering - Volume 111, 1 January 2016, Pages 508-523
نویسندگان
Serdar Soylu, Alison A. Proctor, Ron P. Podhorodeski, Colin Bradley, Bradley J. Buckham,