典型文献
Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles
文献摘要：
A two-stage model-independent hovering control scheme for underwater vehicles,which are subject to unknown yet constant external disturbance,to eliminate steady-state depth error is proposed.Proportional-derivative(PD)state feedback control law is adopted as the ballast mass planner at the first stage for the vehicle to reach both hydrostatic balance and a steady depth.The residual depth error is then removed by an additional disturbance rejection control at the second stage.Global asymptotic stability of the whole system is guaranteed via Lyapunov approach.The effectiveness of the proposed scheme is illustrated by the simulation of diving control of an underwater vehicle with hydraulic variable ballast system.
文献关键词：
中图分类号：
作者姓名：
BI Anyuan;FENG Zhengping;ZHU Yuchen;DENG Xu
作者机构：
School of Naval Architecture,Ocean and Civil Engineering;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China
文献出处：
引用格式：
[1]BI Anyuan;FENG Zhengping;ZHU Yuchen;DENG Xu-.Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles)[J].上海交通大学学报（英文版）,2022(03):375-382
A类：
Hovering
B类：
Two,Stage,Scheme,Disturbance,Rejection,Control,Underwater,Vehicles,two,stage,model,independent,hovering,control,scheme,underwater,vehicles,which,are,subject,unknown,yet,constant,external,disturbance,eliminate,steady,state,depth,error,proposed,Proportional,derivative,feedback,law,adopted,ballast,mass,planner,first,reach,both,hydrostatic,balance,residual,then,removed,by,additional,rejection,second,Global,asymptotic,stability,whole,system,guaranteed,via,Lyapunov,approach,effectiveness,illustrated,simulation,diving,hydraulic,variable
AB值：
0.649096
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