| Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea |
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| 作者姓名： | 俞建成 张艾群 王晓辉 吴宝举 |
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| 作者单位： | Shenyang Institute of Automation Chinese Academy of Sciences，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang 110016，China，Shenyang 110016，China，Shenyang 110016，China，Shenyang 110016，China |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China.The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module.A control energy cost function is used as the optimization criteria of the control allocation module,and weighted pseudo-inverse is used to find the solution of the control allocation problem.In the presence of bounded unknown disturbance and neural networks approximation error,stability of the closed-loop control system of manned submersible is proved with Lyaponov theory.The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.
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| 关 键 词： | 深海 载人潜水器 神经网络 自适应控制 控制分配 深潜器 |
| 收稿时间： | 2006-06-12 |
| 修稿时间： | 2007-01-08 |
Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea |
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| YU Jian-cheng,ZHANG Ai-qun,WANG Xiao-hui,WU Bao-ju.Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea[J].China Ocean Engineering,2007,21(1):147-161. |
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| Authors: | YU Jian-cheng ZHANG Ai-qun WANG Xiao-hui WU Bao-ju |
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| Abstract: | This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China.The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module.A control energy cost function is used as the optimization criteria of the control allocation module,and weighted pseudo-inverse is used to find the solution of the control allocation problem.In the presence of bounded unknown disturbance and neural networks approximation error,stability of the closed-loop control system of manned submersible is proved with Lyaponov theory.The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea. |
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| Keywords: | manned submersibles neural networks adaptive control control allocation underwater vehicles |
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