Academic Journal
Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment
| العنوان: | Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment |
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| المؤلفون: | Qing Yang, Hao Su, Gong-You Tang, De-Xin Gao |
| المصدر: | Mathematical Problems in Engineering, Vol 2017 (2017) |
| بيانات النشر: | Hindawi Limited |
| سنة النشر: | 2017 |
| المجموعة: | Directory of Open Access Journals: DOAJ Articles |
| مصطلحات موضوعية: | Engineering (General). Civil engineering (General), TA1-2040, Mathematics, QA1-939 |
| الوصف: | To deal with the disturbances of wave and current in the heading control of Autonomous Underwater Vehicles (AUVs), an optimal disturbances rejection control (ODRC) approach for AUVs in shallow water environment is designed to realize this application. Based on the quadratic optimal control theory, the AUVs heading control problem can be expressed as a coupled two-point boundary value (TPBV) problem. Using a recently developed successive approximation approach, the coupled TPBV problem is transformed into solving a decoupled linear state equation sequence and a linear adjoint equation sequence. By iteratively solving the two equation sequences, the approximate ODRC law is obtained. A Luenberger observer is constructed to estimate wave disturbances. Simulation is provided to demonstrate the effectiveness of the presented approach. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| تدمد: | 1024-123X 1563-5147 |
| Relation: | http://dx.doi.org/10.1155/2017/8506381; https://doaj.org/toc/1024-123X; https://doaj.org/toc/1563-5147; https://doaj.org/article/5d54d37c531d442d8789b45e105b70fe |
| DOI: | 10.1155/2017/8506381 |
| الاتاحة: | https://doi.org/10.1155/2017/8506381 https://doaj.org/article/5d54d37c531d442d8789b45e105b70fe |
| رقم الانضمام: | edsbas.C216B578 |
| قاعدة البيانات: | BASE |
Full Text Finder | تدمد: | 1024123X 15635147 |
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| DOI: | 10.1155/2017/8506381 |