全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

水下机器人抗积分饱和控制及主动容错控制方法

Keywords: AUV, 抗积分饱和, 传感器故障, 主动容错控制??

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对自主式水下机器人(AUV)推力饱和时一般模型控制器控制性能下降问题,提出了基于平滑变参数条件积分法的抗积分饱和控制方法.为适应AUV因抛载等引起的动力学性能变化,提出了一种基于抗积分饱和一般模型控制的主动容错控制方法,同时还研究了传感器故障问题并提出了一种传感器故障容错控制方法.进行了"海狸"号水下机器人试验样机的仿真及水池实验,实验结果验证了所提出的抗积分饱和控制方法的有效性,也验证所提出的容错控制方法在AUV发生故障及动力学性能变化时可有效减小速度、角速度跟踪误差.

References

[1]  徐玉如,庞永杰,甘〓永,孙玉山. 智能水下机器人技术展望[J].智能系统学报, 2006, 1(1):9?16.
[2]  ?XU Yuru, PANG Yongjie, GAN Yong, SUN Yushan. AUVstate?of?the?art and prospect [J]. CAAI Transactions on Intelligent Systems, 2006, 1(1): 9?16.
[3]  方少吉,王丽荣,朱计华,庞永杰. 水下机器人传感器容错控制技术的研究 [J].机器人, 2007, 26(2):155?159. ?
[4]  FANG Shaoji, WANG Lirong, ZHU Jihua, PANG Yongjie. Sensor fault?tolerant control of an autonomous underwater vehicle [J]. Robot, 2007, 26(2):155?159.
[5]  SOUCACOS P, BEALE G O. Design of a robust reconfigurable control algorithm for underwater vehicles experiencing stern plane jam [C] //Proceedings of the American Control Conference. Minneapolis:USA, 2006: 3654?3660?
[6]  SOYLU S, BUCKHAM B J, PODHORDESKI R P. A chattering?free sliding?mode controller for underwater vehicles with fault?tolerant infinity?norm thrust allocation [J].Ocean Engineering, 2008, 35(16): 1647?1659.
[7]  WANG Yujia, ZHANG Mingjun. Research on test?platform and condition monitoring method for AUV [C] //IEEE International Conference on Mechatronics and Automation. Luoyang, China, 2006: 2404?2409.?
[8]  YANG Liping, ZHANG Mingjun, WANG Yujia. Study on simultaneous fault tolerance control of AUV thrusters ?[C] //? Proceedings of the IEEE International Conference on Automation and Logistics. Qingdao, China, 2008: 105?110.
[9]  王庆年,郑君峰,王伟华. 一种新的并联混合动力客车的自适应控制策略 [J].吉林大学学报,2008,38(2): 249?253.?
[10]  WANG Qingnian, ZHENG Junfeng, WANG Weihua. New adaptive control strategy of parallel hybrid electric bus[J]. Journal of Jilin University, 2008, 38(2): 249?253.
[11]  周小勇,叶银忠. 基于小波多分辨率系数模值的并发故障检测方法 [J]. 华东理工大学学报, 2006, 32(7): 832?835.?
[12]  ZHOU Xiaoyong, YE Yinzhong. Composite fault detection method based on wavelet multi?resolution analysis coefficient modules [J]. Journal of East China University of Science and Technology, 2006, 32(7): 832?835.?
[13]  周东华,叶银忠. 现代故障诊断与容错控制 [M].北京:清华大学出版社, 2000: 24?26, 225?227.?

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133