| 基于神经网络的自主水下机器人动态反馈控制 |
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| 引用本文： | 周焕银,刘开周,封锡盛.基于神经网络的自主水下机器人动态反馈控制[J].电机与控制学报,2011,15(7):87-93. |
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| 作者姓名： | 周焕银 刘开周 封锡盛 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016;东华理工大学机电学院,江西抚州344000;中国科学院研究生院,北京100036
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳,110016 |
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| 基金项目： | 中科院知识创新工程重要方向项目(YYYJ-0917); 国家973项目(6138102007-3,6138102008-4); 江西省教育厅科技项目(GJJ10171) |
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| 摘 要： | 针对自主水下机器人数学模型的强非线性及所受海流干扰无法确定等特点,设计了基于神经网络补偿器的动态反馈控制算法.通过对自主水下机器人系统数学模型研究,将系统分解为近似线性部分与非线性不确定部分.通过动态反馈控制实现对分解出的近似线性部分进行初步控制,利用神经网络所具有的自适应控制实现对不确定模型与干扰项进行补偿控制,提高...
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| 关 键 词： | 自主水下机器人 不确定模型 神经网络补偿器 动态反馈控制 半物理仿真 |
Dynamic feedback control based on ANN compensation controller for AUV motions |
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| ZHOU Huan-yin,LIU Kai-zhou,FENGXi-sheng.Dynamic feedback control based on ANN compensation controller for AUV motions[J].Electric Machines and Control,2011,15(7):87-93. |
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| Authors: | ZHOU Huan-yin LIU Kai-zhou FENGXi-sheng |
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| Affiliation: | ZHOU Huan-yin1,2,3,LIU Kai-zhou1,FENG Xi-sheng1(1.The State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Science,Shenyang 110016,China,2.School of Mechanical and Electronic Engineering,East China Institute of Technology,Fuzhou 344000,3.Graduate School of the Chinese Academy of Sciences,Beijing 100036,China) |
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| Abstract: | One algorithm of artificial neural network(ANN) compensator coupled with dynamical state feedback control was designed for motions of autonomous underwater vehicle(AUV).The math model of AUV was decomposed to one extended linear subsystem and an unknown nonlinear subsystem.The fore part was controlled by dynamic state feedback control algorithm which was improved on feedback parameters described by some functions of time,poses,and surge speed as well as the last one being controlled by ANN whose parameters ... |
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| Keywords: | autonomous underwater vehicle unknown nonlinear subsystem artificial neural network dynamic state feedback control semi-physical simulation |
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