Experimental Dynamics Identification of Autonomous Underwater Vehicle and Modified Model Reference Adaptive Controller Design

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

	Experimental Dynamics Identification of Autonomous Underwater Vehicle and Modified Model Reference Adaptive Controller Design
	Jiang ZB(姜志斌)1,2,3; Li S(李硕)1,2,3; Liu TJ(刘铁军)1,2,3; Qi S(祁胜)1,2,3; Wang YX(王亚兴)1,2,3
	2021
会议日期	September 11-11, 2021
会议地点	Beijing, China
页码	195-200
英文摘要	This paper investigates experimental diving dynamic model identification of Autonomous Underwater Vehicles (AUVs). An effective identification method based on tracking differentiator and augmented recursive least square (TD-ARLS) estimator is introduced to identify unknown model parameters. Depending on the identified model, a modified Model Reference Adaptive Control (MRAC) law is proposed to obtain optimal control performance. The identified model is adopted as the reference model to design the modified MRAC for the AUV’s diving dynamics. The lake trials of Explorer 1000 AUV and simulation results illustrate the effectiveness of the proposed method.
产权排序	1
会议录	Proceedings of the 3rd WRC Symposium on Advanced Robotics and Automation 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-1823-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29958]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Jiang ZB(姜志斌)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169 China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China
推荐引用方式 GB/T 7714	Jiang ZB,Li S,Liu TJ,et al. Experimental Dynamics Identification of Autonomous Underwater Vehicle and Modified Model Reference Adaptive Controller Design[C]. 见:. Beijing, China. September 11-11, 2021.