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.
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2ogycsz
via IFTTT
Εγγραφή σε:
Σχόλια ανάρτησης (Atom)
Δημοφιλείς αναρτήσεις
-
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2jCvX3K via IFTTT
-
Treatment effectiveness holds considerable importance in the association between service quality and satisfaction in medical service studies...
-
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2pbGdiN via IFTTT
-
Vol.25 No.2 from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/1P7bHxT via IFTTT
-
Publication date: Available online 16 January 2017 Source: International Journal of Pediatric Otorhinolaryngology Author(s): Kaveh Karimn...
-
Daily Mail Sarah was diagnosed with the cancer that killed Steve Jobs Daily Mail The symptoms Sarah Smith experienced on and off for...
-
Omalizumab is a treatment for asthma that has a success rate of approximately 40% to 50%.1 Recent mechanistic studies have suggested that ba...
-
Understanding Head And Neck Cancers - The Southeast Sun ... The Southeast Sun (NAPSI)—According to the Centers for Disease Control an...
-
Abstract Background Henoch–Schönlein purpura is the most common vasculitis in children. Its long-term prognosis depends on renal involve...
Δεν υπάρχουν σχόλια:
Δημοσίευση σχολίου