Adaptive Neural Network Control with Control Allocation  for A Manned Submersible in Deep Sea

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea
	Yu JC(俞建成); Zhang AQ(张艾群); Wang XH(王晓辉); Wu BJ(吴宝举)
刊名	China Ocean Engineering
	2007
卷号	21 期号:1 页码:147-161
关键词	manned submersibles neural networks adaptive control control allocation underwater vehicles
ISSN号	0890-5487
产权排序	1
中文摘要	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.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical ; Water Resources
研究领域[WOS]	Engineering ; Water Resources
关键词[WOS]	UNDERWATER VEHICLES ; THRUSTER REDUNDANCY
收录类别	SCI ; EI
资助信息	This project is financially supported by the National High Technology Research ;; Development Programof China(863Program)(Grant No.2002AA401003)
语种	英语
WOS记录号	WOS:000245522600013
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7466]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Yu JC,Zhang AQ,Wang XH,et al. Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea[J]. China Ocean Engineering,2007,21(1):147-161.
APA	Yu JC,Zhang AQ,Wang XH,&Wu BJ.(2007).Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea.China Ocean Engineering,21(1),147-161.
MLA	Yu JC,et al."Adaptive Neural Network Control with Control Allocation for A Manned Submersible in Deep Sea".China Ocean Engineering 21.1(2007):147-161.