Methods of Discontinuous Control for the Autonomous Underwater Vehicles

被引：0
|
作者：
Lebedev, Alexander [1 ]
机构：
[1] Far Eastern Fed Univ, Vladivostok 690950, Russia
来源：
ADVANCES IN MECHATRONICS AND CONTROL ENGINEERING, PTS 1-3 | 2013年 / 278-280卷
关键词：
Control System; Autonomous Underwater Vehicle; Adaptive Control; Variable Structure System; Self-Adjustment System; Reference Model;
D O I：
10.4028/www.scientific.net/AMM.278-280.1473
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
New methods of the synthesis of multi-dimensional robust and adaptive control systems for the centralized control of the spatial motion of autonomous underwater vehicles (AUV) is developed in this paper, such as variable structure system (VSS) and self-adjustment system with reference model. The conditions of the sliding mode existence and the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized discontinuous control provides the high control quality at any variations of the object parameters within the given ranges.
引用
收藏
页码：1473 / 1476
页数：4
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