Anti-disturbance control for an underwater vehicle in shallow wavy water

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Anti-disturbance control for an underwater vehicle in shallow wavy water
	Luo J(罗均); Tang ZJ(唐智杰); Peng Y(彭艳); Xie SR(谢少荣); Cheng, Tingting; Li HY(李恒宇)
	2011
会议名称	2011 International Conference on Advanced in Control Engineering and Information Science, CEIS 2011
会议日期	August 18-19, 2011
会议地点	Dali, China
关键词	underwater vehicle shallow water second order wave control strategy
页码	915-921
通讯作者	李恒宇
中文摘要	Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on the underwater vehicle. In this paper, the second order wave drift force affecting severely the underwater vehicle in shallow water are presented. On the basis of wave force analysis, three dimension disturbances caused by wavy surgy water are measured and a control system using least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controller is put forward. The experimental results show that the control system for disturbance of surge and wave is feasible and effective.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	Procedia Engineering
会议录出版者	Elsevier Ltd
会议录出版地	Oxford, United Kingdom
语种	英语
ISSN号	1877-7058
WOS记录号	WOS:000300876500167
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20069]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Luo J,Tang ZJ,Peng Y,et al. Anti-disturbance control for an underwater vehicle in shallow wavy water[C]. 见:2011 International Conference on Advanced in Control Engineering and Information Science, CEIS 2011. Dali, China. August 18-19, 2011.