Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

Pshikhopov, Viacheslav; Medvedev, Mikhail; Gurenko, Boris

doi:10.4028/www.scientific.net/amm.490-491.700

Cited by 20 publications

(19 citation statements)

References 5 publications

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“…Thus, from(16) we will define : . (17) We will put equation (15) and (17) in (14), so we get: . (18) We will express a new variable from equation 18: .…”

Section: Synthesis Of Observermentioning

confidence: 99%

The system of nonlinear adaptive control for wind turbine with DFIG

Medvedev¹,

Mazalov²

2014

EAI Endorsed Transactions on Energy Web

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This paper presents a problem solution of the stable voltage generating in the changing terms of environment for the double-fed induction generator (DFIG). For this, in nonlinear multivariable systems, such as mathematical model of DFIG, the method of observer's synthesis for external, parametric and structural disturbances was used. This allows, on the basis of disturbances approximation, to carry out an evaluation under conditions of uncertainty, leading to disturbances adaptation with a priori unknown structure. The work presents a synthesis method of control system, allowing to solve indicated problem. Stand-alone wind turbine used as a power plant with DFIG. The control system uses the original nonlinear mathematical model of the DFIG in rotating "dq" coordinates, taking into account non-linear changes in the parameters. To confirm the effectiveness of the problem solution, mathematical computer model was developed. The paper also presents the results of full-scale simulation.

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“…Thus, from(16) we will define : . (17) We will put equation (15) and (17) in (14), so we get: . (18) We will express a new variable from equation 18: .…”

Section: Synthesis Of Observermentioning

confidence: 99%

The system of nonlinear adaptive control for wind turbine with DFIG

Medvedev¹,

Mazalov²

2014

EAI Endorsed Transactions on Energy Web

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“…Method of position-trajectory control [3], which origin comes from [5][6][7], has recently been successfully applied in autonomous aeronautic complexes [8][9][10][11] and autonomous marine vehicles [12][13][14][15]. Position-trajectory synthesiz algorithms were applied for the prototype of high-altitude aeronautical platform, successfully tested in December 2013 in Changsha (China).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Pshikhopov¹,

Medvedev²,

Krukhmalev³

2015

Advances in Intelligent Systems Research

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The problem of vehicle control is considered in the paper. The model of vehicle is represented by the equations of kinematics and dynamics of a rigid body. The features of control that could appear for complicated maneuvers are investigated. In such motion the determinant of the matrix of kinematics may be equal to zero. This fact does not allow to set the desired dynamics of the closed-loop system in the form of linear equations. In other words the system cannot be linearized by feedback. The problem is solved by applying adaptive control systems with a reference model. A procedure for the synthesis of the basic position-trajectory control is proposed. Asymptotic stability analysis on base of the method of Lyapunov functions is considered. Adaptation of control is carried out by proportional and integral algorithms. The block-diagram of the closed-loop system is presented. The stability of the adaptive control system is proved. It is shown that in the linear approximation, the characteristic equation of the closed-loop system is a product of the characteristic equation of the reference models, the vehicle, and the adaptation subsystem. Modeling results are presented.

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“…pitching, rolling and heaving motions of the boat are not considered. It is assumed that boat moves in still water [3]. Eq.…”

Section: Mathematical Model Of the Motor Boatmentioning

confidence: 99%

“…One of the major tasks in creation of fast motor boats is development of control system and control algorithms providing boat movement along the stated path with the necessary speed [1,2,3]. It is known, that solution of this task requires precise mathematical model describing the boat movement.…”

Section: Introductionmentioning

confidence: 99%

Development of Algorithms for Control of Motor Boat as Multidimensional Nonlinear Object

Gaiduk

Gurenko

Plaksienko

et al. 2015

MATEC Web of Conferences

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Abstract. In this paper authors develop and research system for motor boat control, that allows to move along the stated paths with the given speed. It is assumed, that boat is equipped by the measuring system that provides current coordinates, linear and angular velocities. Control system is based upon the mathematical model, presented earlier (see references). In order to analytically find the necessary controls, all equations were transformed to Jordan controllable form. Besides solution this transformation also allows to handle model nonlinearities and get required quality of movement along the stated paths. Control system includes algorithms for control of longtitudal velocity and boat course. Research of the proposed control system according to boat design limitations for the values of control variables was performed by simulation in MATLAB. Results of two experiments, different in value of the required velocity are discussed.

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Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

Cited by 20 publications

References 5 publications

The system of nonlinear adaptive control for wind turbine with DFIG

The system of nonlinear adaptive control for wind turbine with DFIG

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Development of Algorithms for Control of Motor Boat as Multidimensional Nonlinear Object

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