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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住宅现浇钢筋混凝土楼板裂缝成因及防治     

王昊  于湫 《海岸工程》2007,26(2):57-61

在建筑工程中,现浇钢筋混凝土楼板出现裂缝的情况较多,这已成为影响住宅工程质量的一大通病。对其产生裂缝的原因进行了分析,并结合工程实际,就预防和综合治理提出了较全面的对策。  相似文献   

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   

Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins   总被引：1，自引：0，他引：1  

Mukund Narasimhan  Sahjendra N. Singh   《Ocean Engineering》2006,33(3-4):404-416

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.  相似文献   

受扰线性系统的前馈-反馈最优控制     

唐功友  张颖璐 《中国海洋大学学报(自然科学版)》2005,35(1):121-124,48

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。  相似文献