The attitude control and depth tracking issue of autonomous underwater vehicle (AUV) are addressed in this paper. By introducing a nonsingular coordinate transformation, a novel nonlinear reduced-order observer (NROO) is presented to achieve an accurate estimation of AUV’s state variables. A discrete-time model predictive control with nonlinear model online linearization (MPC-NMOL) is applied to enhance the attitude control and depth tracking performance of AUV considering the wave disturbance near surface. In AUV longitudinal control simulation, the comparisons have been presented between NROO and full-order observer (FOO) and also between MPC-NMOL and traditional NMPC. Simulation results show the effectiveness of the proposed method.
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2hL6UGg
via IFTTT
Εγγραφή σε:
Σχόλια ανάρτησης (Atom)
Δημοφιλείς αναρτήσεις
-
Differential Effect of Hypoalbuminemia on Hypoglycemia on Type 2 Diabetes Patients Treated with Insulin Glargine 300 U/ml and Insulin Deglud...
-
Southeast China is frequently hit by tropical cyclones (TCs) with significant economic and health burdens each year. However, there is a lac...
-
HIV Positivity and Referral to Treatment Following Testing of Partners and Children of PLHIV Index Patients in Public Sector Facilities in S...
-
Upon recognition of bacterial pathogen by pattern recognition receptors, cells are activated to produce pro-inflammatory cytokines and type ...
-
The majority of hematologist-oncologists who use the social media platform Twitter had some financial conflict of interest, according to new...
-
In the Original Investigation titled “Yield Strength Testing in Human Cadaver Nasal Septal Cartilage and L-Strut Constructs,” published in t...
-
Purpose: To summarize the clinical, radiographic, and intraoperative characteristics of isolated neurofibromas of the orbit (INFO) in the li...
-
International Journal of Environmental Research and Public Health, IJERPH, Vol. 16, Pages 3884:... International Journal of Environmental Re...
-
The present study evaluated the anti-inflammatory and analgesic effects of the superoxide dismutase mimetic agent tempol in superoxide anion...
-
Proton therapy for head and neck cancer: expanding the therapeutic window. Lancet Oncol. 2017 Apr 26;: Authors: Leeman JE, Romesser P...
Δεν υπάρχουν σχόλια:
Δημοσίευση σχολίου