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Selected optimal control from controller database according to diverse AUV motions
Zhou HY(周焕银); Liu KZ(刘开周); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name2011 9th World Congress on Intelligent Control and Automation (WCICA 2011)
Conference DateJune 21-25, 2011
Conference PlaceTaipei, Taiwan
Author of SourceThe IEEE Robotics and Automation Society; National Science Council; Cent. Intelligent Rob. Autom. Res. Natl. Taiwan Univ.; Robotics Society of Taiwan; Chinese Institute of Automation Engineers
Source PublicationProceedings of the 9th World Congress on Intelligent Control and Automation (WCICA 2011)
PublisherIEEE
Publication PlacePiscataway, NJ
2011
Pages425-430
Indexed ByEI ; CPCI(ISTP)
EI Accession number20113614312014
WOS IDWOS:000395331000082
Contribution Rank1
ISBN978-1-61284-700-9
KeywordAlgorithms Autonomous Underwater Vehicles Control Theory Cost Functions Database Systems Intelligent Control Optimization Submersibles Underwater Equipment Water Craft
AbstractAutonomous Underwater Vehicle (AUV) system is one difficult controlled system because of its imprecise nonlinear math description and its complex disturbances. The motions of AUV are coupled with each other so the design of control law is stiff. In this paper, AUV model is departed into several subsystem models meanwhile some control laws are conceived for every subsystem. Furthermore, one controller database gathered with these control laws is designed to conveniently select some optimized control algorithms for different AUV motional requirement. These optimized algorithms are achieved based on minimizing the cost function of every subsystem and the robust capability to disturbances. Simulations results validate the controller database works well and show beautiful control results compared with other control algorithm with consistent control parameters.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7846
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang Liaoning, 110016, China
2.East China Institute of Technology, Graduate School, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Zhou HY,Liu KZ,Feng XS. Selected optimal control from controller database according to diverse AUV motions[C]//The IEEE Robotics and Automation Society; National Science Council; Cent. Intelligent Rob. Autom. Res. Natl. Taiwan Univ.; Robotics Society of Taiwan; Chinese Institute of Automation Engineers. Piscataway, NJ:IEEE,2011:425-430.
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