...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Ocean Engineering >Three-dimensional trajectory tracking of a hybrid autonomous underwater vehicle in the presence of underwater current
【24h】

Three-dimensional trajectory tracking of a hybrid autonomous underwater vehicle in the presence of underwater current

机译：水下电流存在下混合自治水下车辆的三维轨迹跟踪

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this work, a six degrees-of-freedom (DOF) nonlinear kinematic and dynamic model of a Hybrid Autonomous Underwater Vehicle (H-AUV) is derived for the two modes of locomotion, propelled and gliding modes. A comprehensive linearization algorithm is developed to include both modes of locomotion. Starting with a three-dimensional time-parameterized curve of position history, Frenet-Serret frames are used to specify the unknown nominal states, which in turn are used to obtain the nominal inputs. A linear time-variant (LTV) state-space model is obtained, and a linear quadratic regulator (LQR) is designed and applied to the nonlinear model. The performance of the devised controller is assessed via a metric that computes the error between the actual and the desired position. Simulation results show that the LQR provides accurate tracking performance, even in the presence of underwater currents with bounded flow velocity. Moreover, the controller autonomously switches modes between propulsion and gliding to ensure minimal trajectory tracking error and energy consumption.
机译：在这项工作中，为两种自由度（H-AUV）的六个自由度（DOF）非线性运动和动态模型用于两种运动，推进和滑动模式。开发了一种综合线性化算法，包括包括两种运动模式。从三维时间参数化的位置历史曲线开始，使用FreneT-SERRET帧来指定未知的标称状态，又用于获得标称输入。获得线性时变（LTV）状态空间模型，并设计了线性二次调节器（LQR）并施加到非线性模型。通过计算实际和所需位置之间的误差来评估设计控制器的性能。仿真结果表明，即使在存在有界流速的水下电流的情况下，LQR也能提供准确的跟踪性能。此外，控制器自主地在推进器之间切换模式，并滑动以确保最小的轨迹跟踪误差和能量消耗。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号