自主水下航行器的混合自适应控制

S.S. Tabaii, F. el-Hawary, M. El-Hawary
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引用次数: 15

摘要

研究了自主水下航行器(AUV)的混合自适应控制。水下航行器的动力学随操作条件的变化而变化,即使理论或实验驱动的动力学系数也反映出近似的精确系数。采用自适应控制技术处理系统动力学中的不确定性问题。在应用的混合自适应控制中,系统在连续域中进行仿真,而控制部分和识别部分是离散的。研究了采样数据不稳定系统的离散模型和零点位置问题。参数估计的收敛速度对闭环系统的稳定性至关重要,特别是当开环不稳定系统通过其初始状态或被剧烈的动力学变化纠缠时。提出了自适应归一化方法,提高了收敛速度,保持了稳定性。给出了改进的直接、间接和线性二次高斯(LQG)自适应控制结果。
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Hybrid adaptive control of autonomous underwater vehicle
Hybrid adaptive control of autonomous underwater vehicle (AUV) is investigated. Dynamics of AUV vary by change in operating conditions and even theoretically or experimentally driven dynamical coefficients reflect an approximate to the exact ones. Adaptive control technique is employed to handle the uncertainty problems in the system dynamics. In the applied hybrid adaptive control, the system is simulated in a continuous domain while the control and identification sections are discrete. The discrete model and position of zeros of sampled data unstable system are addressed. Convergence rate of parameter estimation is crucial in the stability of closed loop system particularly when open loop unstable system passes its initial states or is entangled by radical changes in the dynamics. Adaptive normalization is suggested which improves the rate of convergence and conserves stability. The results of modified direct, indirect and linear quadratic Gaussian (LQG) adaptive control are presented.
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