Knowledge Commons of Institute of Automation,CAS
Design of Cascade Control Framework for ROV Control and Simulation | |
Qiu CL(邱常林)1,2![]() ![]() ![]() ![]() | |
2020 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议日期 | 2020年12月 |
会议地点 | 北京 |
摘要 | In this paper, a cascade control framework is proposed a class of remote operated vehicles (ROVs) to enhance the control performance and capacity of interference resistance. Specifically, the control framework is composed of a fuzzy-based controller in primary loop and a PID neural network based controller in secondary loop. In the primary loop, fuzzy controller is implemented to avoid precise establishment of ROV model for calculating the expected velocity of the vehicle. Furthermore, in the secondary loop, a PID neural network with adaptation is adopted to accomplish the capacity of resisting disturbance. Eventually, the control framework is verified by theoretical and simulation analyses. The obtained results indicate that the proposed cascade control framework endows the ROV with the ability to guarantee the control performance and attenuate external disturbance effectively. |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57392 |
专题 | 复杂系统认知与决策实验室 |
通讯作者 | Yu JZ(喻俊志) |
作者单位 | 1.State Key Lab Management and Control for Complex Systems, Institute of Automation, CAS, Beijing 100190, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.Naval Research Academy 4.Dept. Mech. Eng. Sci., BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China |
推荐引用方式 GB/T 7714 | Qiu CL,Kong SH,Zhou C,et al. Design of Cascade Control Framework for ROV Control and Simulation[C],2020. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Design_of_Cascade_Co(188KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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