Motion Control System for a Remotely Operated Vehicle with Interval Parameters / S. A. Gaivoronsky (Gayvoronsky), I. V. Khozhaev, T. A. Ezangina
Уровень набора: International Journal of Mechanical Engineering and Robotics ResearchЯзык: английский.Страна: .Резюме или реферат: Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system..Примечания о наличии в документе библиографии/указателя: [References: 13 tit.].Тематика: электронный ресурс | труды учёных ТПУ | robust control | interval parameters | parametric synthesis | remotely operated vehicle | mathematical model Ресурсы он-лайн:Щелкните здесь для доступа в онлайнTitle screen
[References: 13 tit.]
Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system.
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