The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stab...The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.展开更多
In this paper, a new lattice hydrodynamic model is proposed by incorporating the driver anticipation effect of next-nearest-neighbor site. The linear stability analysis and nonlinear analysis show that the driver anti...In this paper, a new lattice hydrodynamic model is proposed by incorporating the driver anticipation effect of next-nearest-neighbor site. The linear stability analysis and nonlinear analysis show that the driver anticipation effect of next-nearest-neighbor site can enlarge the stable area of traffic flow. The space can be divided into three regions： stab/e, metastable, and unstable. Numerical simulation further illuminates that the driver anticipation effect of the next-neaxest-neighbor site can stabilize tramc flow in our modified lattice model, which is consistent with the analytical results.展开更多
基金Project(61174047) supported by the National Natural Science Foundation of ChinaProject(20102304110003) supported by the Doctoral Fund of Ministry of Education of ChinaProject(51316080301) supported by Advanced Research
文摘The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.
基金Supported by the Key Project of Chinese Ministry of Education under Grant No.211123the Scientific Research Fund of Hunan Provincial Education Department under Grant No.10B072+2 种基金Doctor Scientific Research Startup Project Foundation of Hunan University of Arts and Science under Grant No.BSQD1010the Fund of Key Construction Academic Subject of Hunan Provincethe Natural Science Foundation of Hunan Province under Grant No.14JJ2125
文摘In this paper, a new lattice hydrodynamic model is proposed by incorporating the driver anticipation effect of next-nearest-neighbor site. The linear stability analysis and nonlinear analysis show that the driver anticipation effect of next-nearest-neighbor site can enlarge the stable area of traffic flow. The space can be divided into three regions： stab/e, metastable, and unstable. Numerical simulation further illuminates that the driver anticipation effect of the next-neaxest-neighbor site can stabilize tramc flow in our modified lattice model, which is consistent with the analytical results.
