The underwater robot thruster control system with non-linear correction and reference model self-adjustment

Author

Filaretov, V.F. ; Lebedev, A.V. ; Dyda, A.A.

Author_Institution

Far-Eastern State Tech. Univ., Vladivostok, Russia

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

109

Lastpage

112

Abstract

A method of a control system synthesis for the separate UR thruster is developed. A special non-linear correcting device and adaptive adjustment on reference model are applied for non-linearity compensating and required quality of control processes saving at change of thruster parameters in a given range. A new approach to forming a self-adjustment signal ensuring activity in a linear zone of the power amplifier and drop of power losses is offered. A numerical simulation of the synthesized control system in real functionate regimes is carried out. It confirms the developed control laws efficiency.

Keywords

autonomous underwater vehicles; compensation; control system synthesis; losses; model reference adaptive control systems; nonlinear control systems; power amplifiers; adaptive adjustment; control process quality; control system synthesis; linear zone; nonlinear correcting device; nonlinearity compensation; numerical simulation; power amplifier; power losses; reference model self-adjustment; separate UR thruster; thruster parameter; underwater robot thruster control system; Adaptation models; Control systems; Force; Mathematical model; Process control; Robots; Vehicle dynamics; adaptation; control; reference model; thruster; underwater robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099282