Adaptive control of unmanned surface vessels matching an optimized reference model

Chenguang Yang, Rongxin Cui, Zhijun Li, Sanjay Sharma, Xingang Zhao

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

源语言英语
主期刊名2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版商Institute of Electrical and Electronics Engineers Inc.
2232-2237
页数6
ISBN(电子版)9781479973965
DOI
出版状态已出版 - 20 4月 2014
活动2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, 印度尼西亚
期限: 5 12月 201410 12月 2014

出版系列

姓名2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

会议

会议2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
国家/地区印度尼西亚
Bali
时期5/12/1410/12/14

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