Indirect Adaptive Generalized Predictive Control for an Autonomous Underwater Vehicle

被引：0
|
作者：
Xu Jian-an [1 ]
Liu Gui-fu [2 ]
Zhao Wen-de [1 ]
Zhang Ming-jun [2 ]
机构：
[1] Harbin Inst Technol, Coll Mech & Elect, Harbin 150001, Peoples R China
[2] State Shipbldg Corp, Syst Engn Res Inst, Beijing 100026, Peoples R China
来源：
ADVANCED DESIGN AND MANUFACTURE II | 2010年 / 419-420卷
关键词：
Autonomous underwater vehicle; generalized predictive control; motion control; ROBOTS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper investigates the application of indirect adaptive generalized predictive control to an autonomous underwater vehicle motion. A difference controlled auto-regressive integrated moving average model is used as the multi-step predictive model. Recursive least square method based on forgetting factors is used to identify the parameters of the difference controlled auto-regressive integrated moving average model. Simulation result shows that indirect adaptive generalized predictive control algorithm can be used to control the autonomous underwater vehicle motion.
引用
收藏
页码：837 / +
页数：2
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