Control System Design for Autonomous Underwater Vehicle

Pshikhopov, Viacheslav; Medvedev, Mikhail; Gaiduk, A. R.; Gurenko, Boris

doi:10.1109/lars.2013.61

Cited by 32 publications

(11 citation statements)

References 2 publications

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“…Проанализируем устойчивость замкнутой системы (1), (2), (6), (7) отно-сительно установившегося режима (19).…”

Section: рис 2 формирование репеллеровunclassified

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Movement control algorithm for a vehicle group in 2D environment using unstable modes

Medvedev¹,

Лазарев²

2016

Science Bulletin of the NSTU

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“…Проанализируем устойчивость замкнутой системы (1), (2), (6), (7) отно-сительно установившегося режима (19).…”

Section: рис 2 формирование репеллеровunclassified

“…Как видно из выражения (20), в качестве функции Ляпунова выбрана сумма квадратичных функций отклонений от установившегося режима, опи-сываемого соотношениями (19).…”

Section: рис 2 формирование репеллеровunclassified

Movement control algorithm for a vehicle group in 2D environment using unstable modes

Medvedev¹,

Лазарев²

2016

Science Bulletin of the NSTU

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“…This control successfully used in robotic mobile systems [3][4][5][6][7][8][9][10], such as control systems of autonomous marine devices [3][4][5] and aeronautic complex [7,10], and for constructing regulator of stationary systems [1 -2], such as control systems of traction electric motor [8], DC motor, synchronous generator [2], etc.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control Algorithm of the Synchronous Generator

2017

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Abstract. The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.

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“…Field robotics is rapidly expanding into the aquatic domain [1][2][3][4]. Unmanned Surface Vehicles (USV) are able to provide long lasting operation in the aquatic domain.…”

Section: Introductionmentioning

confidence: 99%

“…Proposed by the authors in [1][2][3][4][5] automatic control system allows to organize automatic motion of USV along the desired path. This article continues this work considering the motion planning process in an environment with obstacles.…”

Section: Introductionmentioning

confidence: 99%

Local and Global Motion Planning for Unmanned Surface Vehicle

Fedorenko

Gurenko

2016

MATEC Web of Conferences

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Abstract. The paper shows approach of unmanned surface vehicle motion planning in an environment with obstacles. The structure of the control system hardware, software architecture, based on client-server model with the loose coupling in ROS software environment, is presented. Global planner is designed using the method of Generalized Voronoi Diagrams. Local planner is implemented using the unstable regimes of control to bypass obstacles near USV. The results of simulation, which showed the efficiency of the proposed approaches, are presented.

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Control System Design for Autonomous Underwater Vehicle

Cited by 32 publications

References 2 publications

Movement control algorithm for a vehicle group in 2D environment using unstable modes

Movement control algorithm for a vehicle group in 2D environment using unstable modes

Adaptive Control Algorithm of the Synchronous Generator

Local and Global Motion Planning for Unmanned Surface Vehicle

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