船舶过度驱动系统构型矩阵设计

OCEANS 2019 - Marseille Pub Date : 2019-06-17 DOI:10.1109/OCEANSE.2019.8867445

Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars

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引用次数: 1

摘要

本文介绍了船舶超驱动系统构型矩阵的性质和设计方法。将机械臂机器人的性能指标推广到超驱动船舶中。此外，在构型矩阵设计过程中，提出了反应性指标和鲁棒性指标两个新的指标。该问题被表述为一个多目标优化问题。仿真和初步实验结果显示了设计过程的解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Configuration Matrix Design of Over-Actuated Marine Systems

This paper presents the properties and design procedure of the configuration matrix of over-actuated marine systems. Performance indices introduced in manipulator robots are extended in over-actuated marine vehicles. Moreover, two novel indices, namely reactive index and robust index, are proposed for configuration matrix design process. The problem is formulated as a multi-objective optimization problem. Simulation and preliminary experimental results show the solutions of the design process.

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OCEANS 2019 - Marseille

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