Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

抗差估计的初值选择     

王振杰  欧吉坤  曲国庆 《大地测量与地球动力学》2001,21(3):32-35

对L1 范估计的平差值和LS估计的平差值作为抗差估计的初值进行了比较 ,指出在 ρ函数是严凸函数时 ,二者无明显的区别。因为LS估计简单且易于计算 ,因此建议用LS估计的平差值作为抗差估计的初值。  相似文献   

Phasing of segmented mirrors: a new algorithm for piston detection     

J.M. Rodríguez-Ramos  J.J. Fuensalida 《Monthly notices of the Royal Astronomical Society》2001,328(1):167-173

The point spread function of a segmented-mirror telescope is severely affected by segment misalignment, which can nullify the performance of adaptive optics systems. The piston and tilt of each segment must be precisely adjusted in relation to the other segments. Furthermore, the direct detection of the alignment error with natural stars would be desirable in order to monitor the errors during astronomical observation.
We have studied the lost information of the piston error caused by the presence of atmospheric turbulence in the measurements of curvature, and present a new algorithm for obtaining the local piston using the curvature sensor. A phase-wrapping effect is shown as responsible for the loss of curvature information and so the piston errors can no longer adequately be mapped; this happens not only in the presence of atmospheric turbulence, but also in its absence.
Good results are obtained using a new iterative method for obtaining the local piston error map. In the presence of atmospheric perturbation, the turbulent phase information obtained from a Shack–Hartmann sensor is introduced in our new iterative method. We propose a hybrid sensor composed of a curvature sensor and a Shack–Hartmann sensor, in order to complete all the information for the phasing. This design takes a short computation time and could be used in real time inside an adaptive optics system, where tilt and piston errors must be corrected.  相似文献   

Optimal Compensation and Implementation for Adaptive Optics Systems     

Douglas P. Looze  Markus Kasper  Stefan Hippler  Orhan Beker  Robert Weiss 《Experimental Astronomy》2003,15(2):67-88

This paper develops a compensation algorithm based on Linear–Quadratic–Gaussian (LQG) control system design whose parameters are determined (in part) by a model of the atmosphere. The model for the atmosphere is based on the open-loop statistics of the atmosphere as observed by the wavefront sensor, and is identified from these using an auto-regressive, moving average (ARMA) model. The (LQG) control design is compared with an existing compensation algorithm for a simulation developed at ESO that represents the operation of MACAO adaptive optics system on the 8.2 m telescopes at Paranal, Chile. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

Estimation of anisoplanatism in adaptive optics by generalized SCIDAR profiling     

R. W. Wilson  N. J. Wooder  F. Rigal  J. C. Dainty 《Monthly notices of the Royal Astronomical Society》2003,339(2):491-494

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An operational multiscale system for hazards prediction, mapping, and response     

David P. Bacon  Nash’at N. Ahmad  Thomas J. Dunn  Michael C. Monteith  Ananthakrishna Sarma 《Natural Hazards》2008,44(3):317-327

By definition, a crisis is a situation that requires assistance to be managed. Hence, response to a crisis involves the merging of local and non-local emergency response personnel. In this situation, it is critical that each participant: (1) know the roles and responsibilities of each of the other participants; (2) know the capabilities of each of the participants; and (3) have a common basis for action. For many types of natural disasters, this entails having a common operational picture of the unfolding events, including detailed information on the weather, both current and forecasted, that may impact on either the emergency itself or on response activities. The Consequences Assessment Tool Set (CATS) is a comprehensive package of hazard prediction models and casualty and damage assessment tools that provides a linkage between a modeled or observed effect and the attendant consequences for populations, infrastructure, and resources, and, hence, provides the common operational picture for emergency response. The Operational Multiscale Environment model with Grid Adaptivity (OMEGA) is an atmospheric simulation system that links the latest methods in computational fluid dynamics and high-resolution gridding technologies with numerical weather prediction to provide specific weather analysis and forecast capability that can be merged into the geographic information system framework of CATS. This paper documents the problem of emergency response as an end-to-end system and presents the integrated CATS–OMEGA system as a prototype of such a system that has been used successfully in a number of different situations.  相似文献   

Robust adaptive control of underactuated ships on a linear course with comfort     

K. D. Do  J. Pan  Z. P. Jiang   《Ocean Engineering》2003,30(17):2201-2225

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.  相似文献   

珠江口外陆架表层沉积物的地球化学分区     

周蒂  陈绍谋  陈汉宗 《热带海洋学报》1991,(3)

根据249个表层沉积物样品的Ca,Al,N,P,Mg,Fe,Mn,Ti和有机碳的测定数据,利用稳健RQ型主分量分析及Q型聚类分析方法,对珠江口外陆架表层沉积物进行了地球化学分类,并将该陆架区划分成陆源细碎屑沉积区、经叠加改造的残留泥砂质沉积区、生物碎屑沉积区以及高能环境下的石英砂质沉积区。结果表明了稳健统计方法相对于传统统计方法的优越性,以及采用稳健主分量的Q载荷进行聚类分析相对于用原始变量进行聚类分析的优越性。  相似文献   

Life cycle strategies of Northern krill (Meganyctiphanes norvegica) for regulating growth, moult, and reproductive activity in various environments: the case of fjordic populations     

Cuzin-Roudy  J; Tarling  G.A; Stromberg  J.-O 《ICES Journal of Marine Science》2004,61(4):721-737

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Growth and Production in Posidonia Oceanica (L.) Delile*     

Jrg A. Ott 《Marine Ecology》1980,1(1):47-64

Abstract. In situ investigations of growth and production in a stand of Posidonia oceanica (L.) DELILE at a depth of 4 m at Ischia (Gulf of Naples) were carried out over two growing seasons. Posidonia starts to grow in August and an average bundle produces ten leaves in increasing time intervals until May. Growth curves for the leaves are given. Maximum leaf standing crop is in May with 1300 g dry weight per m^-2, leaf area index at this time reaches 22 m² m^-2. Leaf net productivity is highest in March with 12 g dry weight per m² per day. Annual leaf production is estimated as 3110 g dry weight per m², “underground” production as 115 g dry weight per m². About half the leaf production is exported from the system. Adaptive strategies of the growth and production pattern are discussed.  相似文献