Title :
Real-time adjusting control method based on attitude sensor signal feedback and its application in spherical underwater vehicle
Author :
Guo, Shuxiang ; Du, Juan ; Ye, Xiufen ; Gao, Hongtao ; Gu, Yizhou
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
In order to realize a better control of a designed spherical underwater vehicle, a real-time adjusting control method based on attitude sensor signal feedback is proposed in this paper. The theory is that compute differences of the sensor data in certain time firstly then compare the differences with threshold, and a modification will be carried out if needed, otherwise, it continues to compare after a delay time. Such real-time monitoring and correcting ensure that the spherical underwater vehicle moves as expected. A lot of experiments are studied in this paper according to the new theory. The experimental results and analysis show that the real-time adjusting control method based on attitude sensor signal feedback is flexible and practical, and it realizes a better control on the spherical underwater vehicle under hydrostatic condition.
Keywords :
attitude control; feedback; sensors; underwater vehicles; attitude sensor signal feedback; hydrostatic condition; real-time adjusting control method; spherical underwater vehicle; Adaptive control; Attitude control; Automatic control; Control systems; Design automation; Feedback; Neural networks; Sliding mode control; Underwater tracking; Underwater vehicles; Real-time Adjusting Control; Sensor Signal feedback; Spherical underwater vehicle;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512098