%0 Journal Article
%T Generalized predictive control and energy consumption analysis of autonomous underwater vehicle<br>水下机器人广义预测控制算法及能耗问题研究
%A XU Jian-an
%A REN Li-guo
%A YANG Li-ping
%A ZHANG Ming-jun
%A <br>徐建安
%A 任立国
%A 杨立平
%A 张铭钧
%J 控制理论与应用
%D 2009
%I 
%X For an autonomous underwater vehicle(AUV), we adopt the variations of outputs as the system optimization objective and propose a generalized predictive control(GPC) algorithm for rejecting the fluctuations caused by various noises and reducing the energy consumption. Experiments of online control of the yaw velocity on an AUV show that it is effective to reduce the energy consumption while meeting the required performance indices.
%K autonomous underwater vehicle
%K generalized predictive control
%K energy consumption<br>水下机器人
%K 广义预测摔制
%K 能量消耗
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=1E36B55938B491C17DF45FE98EAF0759&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=F3090AE9B60B7ED1&sid=D5BEB939E141E547&eid=19E8BB8BE90732B2&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=6