The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in...The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.展开更多
This paper describes the propulsion principle using the concept of space drive and the pressure of the field induced by local rapid expansion of space based on the latest cosmology. Assuming that space vacuum is an in...This paper describes the propulsion principle using the concept of space drive and the pressure of the field induced by local rapid expansion of space based on the latest cosmology. Assuming that space vacuum is an infinite continuum, the propulsion principle utilizes the pressure field derived from the geometrical structure of space, by applying both continuum mechanics and general relativity to space. The propulsive force is a pressure thrust that arises from the interaction of space-time around the spaceship external environment and the spaceship itself; the spaceship is propelled by the pressure used against the space-time structure. As is well known in cosmology, the expansion rule of the universe is governed by the Friedman＇s equations and the Robertson-Walker metric. In this time, the propulsion principle of space drive is introduced from another angle （cosmology）, that is, the pressure of the field induced by local expansion of space is completely considered in the propulsion principle.展开更多
基金Projects (51179038,51309067) supported by the National Natural Science Foundation of China
文摘The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.
文摘This paper describes the propulsion principle using the concept of space drive and the pressure of the field induced by local rapid expansion of space based on the latest cosmology. Assuming that space vacuum is an infinite continuum, the propulsion principle utilizes the pressure field derived from the geometrical structure of space, by applying both continuum mechanics and general relativity to space. The propulsive force is a pressure thrust that arises from the interaction of space-time around the spaceship external environment and the spaceship itself; the spaceship is propelled by the pressure used against the space-time structure. As is well known in cosmology, the expansion rule of the universe is governed by the Friedman＇s equations and the Robertson-Walker metric. In this time, the propulsion principle of space drive is introduced from another angle （cosmology）, that is, the pressure of the field induced by local expansion of space is completely considered in the propulsion principle.
