Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

维护体系良性运行 适应新版质量标准     

王婕  廉双喜 《海洋技术学报》2001,20(4):76-78

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。  相似文献   

具有匹配不确定的奇异摄动系统的鲁棒控制   总被引：2，自引：0，他引：2  

高存臣  王宪杰 《中国海洋大学学报(自然科学版)》2004,34(5):918-920

对于同时具有结构匹配不确定和系统不确定量的奇异摄动系统，利用Lyapunov稳定性理论进行了鲁棒性研究。给出了1个理想奇异摄动系统的稳定鲁棒控制也是不确定奇异摄动系统稳定控制的稳定条件和鲁棒界，讨论了鲁棒界及其随参数变化的变化范围。本文是王宪杰，高存臣已有结果的推广。  相似文献   

Precautionary control rules in US fisheries management: specification and performance     

Restrepo  V. R.; Powers  J. E. 《ICES Journal of Marine Science》1999,56(6):846-852

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Limitations of the Korean conventional fisheries management regime and expanding Korean TAC system toward output control systems     

Jeong-Gon Ryu  Jongoh Nam  John M. Gates 《Marine Policy》2006

In this paper, we focus on the status and trends of the current Korean fisheries management regime. Specifically, this paper briefly introduces the Korean conventional fisheries management regime (KCFMR) and discusses its problems and limitations. In describing policy evolution, this paper finds reasons why the Korean government has chosen a TAC system, an output control approach, besides input control approaches in force for almost a century. This paper also describes the evolution of the Korean TAC system, which is carrying out a pivotal role in Korean fisheries development, and analyzes problems of the Korean TAC system. Finally, this paper gives a perspective on expanding the Korean TAC system toward Output Control Systems (OCSs) such as Individual Quotas (IQs), Individual Vessel Quotas (IVQs), Individual Transferable Traps (ITTs), Community Quotas (CQs), and Individual Transferable Quotas (ITQs).  相似文献   

水产饲料膨化机设计刍论     

徐钟良  陈启发 《台湾海峡》2001,20(Z1):207-211

据开发应用水产饲料膨化机实践，初步论述了膨化机生产能力与动力匹配，螺杆设计参数长径比，物料在腔内滞留时间，膨化腔设计及其温度调控，并提出改进设计的见解.  相似文献   

海水甲壳类人工育苗过程中的水质控制     

朱明  茅云翔  张学成  阎斌伦  藤亚娟 《海洋湖沼通报》2002,(4):72-75

水质控制是海水甲壳类人工育苗中的关键技术之一，但是囿于设备条件的限制而难以有效进行，本文总结出两种简便的水质检测指标；pH值和水质指示生物，并对水质控制的一般原理方法进行了初步的探讨。  相似文献   

Statistics of wave forces on large horizontal cylinders     

Felice Arena   《Ocean Engineering》2002,29(4):359-372

To the first order in a Stokes expansion, the pressure force exerted by a sea state on a large horizontal cylinder represents a stationary random Gaussian process. A relationship is obtained between the spectrum of this process and the wave spectrum. As a consequence, the basic statistical properties of the height and period of the individual waves of the force-process are also obtained. It is proven that these statistical properties agree very well with the data from a small scale field experiment.  相似文献   

Experimental studies on the slowly varying drift motion of a berthed container ship model     

S.K. Lee  H. Choi  S. Surendran 《Ocean Engineering》2006,33(17-18):2454-2465

The effects of free-surface waves on the floating structures are of great importance in the offshore industry. Among the six degrees of motions of a surface ship the absence of restoring forces in surge, sway and yaw led to critical situations for moored ships in the recent times. The order of forces in horizontal plane and their exciting frequencies are matters of interest. The resonance with the presence of moored chains led to many accidents in the recent past. The lines in dry conditions may not give good damping and in wet condition they may trigger the system to chaotic motions and jumps. Two different loading conditions of a container ship model are tested with waves in laboratory conditions in two different drafts. The mooring lines are chosen as per scale law and the energy under the response spectrum is determined from the plots. The results give new insights into the movement of a berthed ships subjected to waves. Response of the moored ship to different loading conditions in different water depths are discussed in this paper. The paper gives the order of energy due to first-order and slowly varying movement of a berthed container model in a towing tank.  相似文献   

Drag force on a circular cylinder in unseparated laminar high Reynolds number nonlinear random oscillatory flow     

Dag Myrhaug  Hanne T. Wist  Lars Erik Holmedal 《Ocean Engineering》2003,30(17):2227-2238

The stochastic properties of the drag force maxima on a circular cylinder subjected to nonlinear random waves are investigated. Unseparated laminar high Reynolds number flow is considered. A simplified approach based on second order Stokes waves is presented, including the sum-frequency effect only. It is demonstrated how a drag force formula valid for regular linear waves can be used to find the cumulative distribution function of individual drag force maxima for nonlinear irregular waves. Here the [Wang, 1968] drag force coefficient is used.  相似文献