| 引用本文: | 徐建安,任立国,杨立平,张铭钧.水下机器人广义预测控制算法及能耗问题研究[J].控制理论与应用,2009,26(10):1148~1150.[点击复制] |
| XU Jian-an,REN Li-guo,YANG Li-ping,ZHANG Ming-jun.Generalized predictive control and energy consumption analysis of autonomous underwater vehicle[J].Control Theory and Technology,2009,26(10):1148~1150.[点击复制] |
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| 水下机器人广义预测控制算法及能耗问题研究 |
| Generalized predictive control and energy consumption analysis of autonomous underwater vehicle |
| 摘要点击 2132 全文点击 1802 投稿时间：2008-05-24 修订日期：2008-12-24 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.10.CCTA080516 |
| 2009,26(10):1148-1150 |
| 中文关键词 水下机器人 广义预测控制 能量消耗 |
| 英文关键词 autonomous underwater vehicle generalized predictive control energy consumption |
| 基金项目 黑龙江省杰出青年科学基金资助项目(2005F030605); 教育部博士点基金资助项目(20070217017). |
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| 中文摘要 |
| 对水下机器人, 本文把输出量的变化作为系统优化目标, 提出了一种广义预测控制算法, 使其能够抑制各种噪声引起的输出波动, 从而减少了系统的能量消耗. 水下机器人艏向速度在线控制水池实验的结果验证了在满足设定控制指标的条件下能够抑制水下机器人艏向速度波动和减少能量消耗. |
| 英文摘要 |
| For an autonomous underwater vehicle(AUV), we adopt the variations of outputs as the system optimization objective and propose a generalized predictive control(GPC) algorithm for rejecting the fluctuations caused by various
noises and reducing the energy consumption. Experiments of online control of the yaw velocity on an AUV show that it is effective to reduce the energy consumption while meeting the required performance indices. |