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Chinese Journal of Mechanical Engineering  2018, Vol. 31 Issue (1): 19-19    DOI: 10.1186/s10033-018-0218-5
  Ocean Engineering Equipment 本期目录 | 过刊浏览 | 高级检索 |
Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles
Hai Huang, Guo-Cheng Zhang, Ji-Yong Li, Qiang Zhang, Jin-Yu Xu, Hong-De Qin
National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles
Hai Huang, Guo-Cheng Zhang, Ji-Yong Li, Qiang Zhang, Jin-Yu Xu, Hong-De Qin
National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
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摘要 Underwater vehicles are being emphasized as highly integrated and intelligent devices for a signifcant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments. To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore, path-following experiments for a tethered open frame remote operated vehicle were verifed for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verifed the efectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.
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Hai Huang
Guo-Cheng Zhang
Ji-Yong Li
Qiang Zhang
Jin-Yu Xu
Hong-De Qin
关键词 Underwater vehicleAdaptive controlDisturbance observerMulti-body dynamic model    
Abstract:Underwater vehicles are being emphasized as highly integrated and intelligent devices for a signifcant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments. To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore, path-following experiments for a tethered open frame remote operated vehicle were verifed for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verifed the efectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.
Key wordsUnderwater vehicle    Adaptive control    Disturbance observer    Multi-body dynamic model
收稿日期: 2016-12-04      出版日期: 2019-07-23
通讯作者: Guo-Cheng Zhang, zhangguocheng168@sina.com     E-mail: zhangguocheng168@sina.com
引用本文:   
Hai Huang, Guo-Cheng Zhang, Ji-Yong Li, Qiang Zhang, Jin-Yu Xu, Hong-De Qin. Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles[J]. Chinese Journal of Mechanical Engineering, 2018, 31(1): 19-19.
Hai Huang, Guo-Cheng Zhang, Ji-Yong Li, Qiang Zhang, Jin-Yu Xu, Hong-De Qin. Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles. Chinese Journal of Mechanical Engineering, 2018, 31(1): 19-19.
链接本文:  
http://qikan.cmes.org/CJOME/CN/10.1186/s10033-018-0218-5      或      http://qikan.cmes.org/CJOME/CN/Y2018/V31/I1/19
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