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Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System | |
Cai, Mingxue![]() ![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Systems, Man, and Cybernetics: Systems
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ISSN | 2168-2216 |
2019 | |
卷号 | 51期号:无页码:无 |
通讯作者 | Wang, Yu(yu.wang@ia.ac.cn) |
摘要 | This article addresses a problem of seabed terrain following control (STFC) for an underwater vehicle-manipulator system (UVMS). The motivation is to perform a visual search of marine products closely to seabed in unknown environment. In terms of this issue, we propose a novel and robust STFC framework for our UVMS to maintain an appropriate height to seabed. A nonlinear model predictive control (NMPC) method is formulated to solve the STFC problem. To relieve online computational burden and system noisy influence, Ohtsuka's continuation/generalized minimal residual (C/GMRES) algorithm incorporated with a tracking differentiator (TD) is investigated. In order to improve the following accuracy, the system state prediction part of the NMPC and a long short-term memory (LSTM) network are elaborated to predict future seabed terrain using a depth gauge and an altimeter, respectively. Finally, the three different physical scenarios for STFC problem are established using ROS to demonstrate the robustness and efficiency of the proposed algorithm. |
关键词 | Seabed Terrain Following Control (STFC) Seabed Terrain Prediction Underwater Vehicle Control UVMS |
学科领域 | 工学 |
学科门类 | 控制科学与工程 |
DOI | 10.1109/TSMC.2019.2944651 |
关键词[WOS] | UNDERACTUATED VESSELS ; NAVIGATION ; TRACKING |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Equipment Pre-Research Field Fund[61403120407] ; Youth Innovation Promotion Association CAS |
项目资助者 | National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Equipment Pre-Research Field Fund ; Youth Innovation Promotion Association CAS |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000673624500013 |
出版者 | IEEE |
七大方向——子方向分类 | 智能控制 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38547 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Yu |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Cai, Mingxue,Wang, Yu,Wang, Shuo,et al. Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019,51(无):无. |
APA | Cai, Mingxue,Wang, Yu,Wang, Shuo,Wang, Rui,Cheng, Long,&Tan, Min.(2019).Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System.IEEE Transactions on Systems, Man, and Cybernetics: Systems,51(无),无. |
MLA | Cai, Mingxue,et al."Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System".IEEE Transactions on Systems, Man, and Cybernetics: Systems 51.无(2019):无. |
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