Control System Design for Robotic Airship

In this paper, authors propose a new method of disturbance estimation that can be used for marine and air vehicles. As stability area for nonlinear systems is connected with performance of estimation, indirect measurement is proposed to estimate the error. The base for calculation is vehicle accelerations provided by navigation system. New algorithms were tested in simulation for which authors developed a block diagram of indirect adaptive control system that features independence of estimator from controller. Analysis of results showed that the error of the developed estimator in transient mode is 30-40% less than error of the linear estimator. In steady state mode, gain of the proposed estimator is equal to gain of the linear estimator and output noise is the same. Simulated system was implemented in mini motor boat, and showed good results in experiment. New estimator allowed to increase the accuracy of moving along the paths.

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“…Disturbances were affecting the underwater vehicle for 50-60 seconds. The controller is designed on the base of position-path method [16].…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Pshikhopov¹,

Medvedev²,

Gurenko³

2015

AMM

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“…Regulator should base on laws of position-path control, developed by V. Pshikhopov [2][3][4][5] but with regard to peculiarities of controlled object [6]. As it was shown in [6], mathematical model of UV in matrix form is:…”

Section: Research Of Movement Algorithmmentioning

confidence: 99%

Research of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

Pshikhopov

Gurenko

Beresnev

2015

MATEC Web of Conferences

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Abstract. Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closedloop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and "positioning to point" algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.

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