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In the Underwater Transportation processing, the fixed set-point control of a dynamic positioning system enables an unmanned underwater vehicle (UUV) automatically to move to a set position by means of a control system, as well as to maintain its precision when deviating from that set position. In response, this paper aims to improve its generalization ability by indirectly pruning the structure of...
This paper proposes a model predictive control (MPC) for autonomous vehicle path following control. To solve the control problem, a nonlinear path following model is used, which includes 2 degree-of-freedom single track vehicle dynamics model and path following error model. The control problem is to control vehicle to run on the reference path with the heading angle along the road orientation angle...
Switched reluctance motor (SRM) has the features of large starting torque, wide speed range and high reliability, which are appropriate for electric vehicles (EVs). A three-phase 12/8 pole SRM is designed for EVs application. The dynamic simulation model of SRM is built in Matlab/Simulink based on the flux linkage and torque characteristics. The EV simulation model is built combining SRM dynamic simulation...
An adaptive sliding mode heading control approach is proposed for autonomous underwater vehicle (AUV) including the dynamics of rudder in this paper. By the analysis of the driving principle of the rudder, a three-order state equation for AUV heading control system is established, in which the system input is the control voltage of the DC motor. For the problem of the modeling uncertainties, an adaptive...
Underwater glider platform represents the maturing technology with a large cost saving over current underwater sampling process. It can survey and monitor the sea environment cost-effective manner combining survey capabilities, simultaneous water sampling and environmental data gathering capacities. It can perform a wide range of fully automated monitoring data measurement over an extended period...
A method of a control system synthesis for the separate UR thruster is developed. A special non-linear correcting device and adaptive adjustment on reference model are applied for non-linearity compensating and required quality of control processes saving at change of thruster parameters in a given range. A new approach to forming a self-adjustment signal ensuring activity in a linear zone of the...
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