Basic Algorithms of Adaptive Position-path Control Systems for Mobile Units

다국어 초록 (Multilingual Abstract)

Today, mobile objects are finding increasing usage in a wide variety of applications. Robots have been put to use in the air, on the ground and under the sea. Along with this expansion in robot technology, the problem of control and autonomous decision making is an ongoing concern, especially in light of the increasing difficulty of tasks. This study is focused on the algorithms of adaptive control system for mobile objects. The authors examined the application of direct adaptive control with reference to model approaches, in particular the position-path method. Point positioning is discussed, and the authors propose a method for efficiency improvement. Parametric uncertainty and influence of immeasurable disturbances are expected. Basic algorithms for the calculation of controlling forces and moments are synthesized using the position-path control method. The authors propose a structure and algorithms of an adaptive position-path system with a reference model. The synthesis of adaptive regulator and stability analysis of closed-loop system is performed, and an example of regulator synthesis is given. Finally, the authors present simulation results for an autonomous unmanned underwater vehicle equipped with a main engine, nose and hydrodynamic rudders on the tail. Along with this, horizontal and vertical maneuvering devices are presented.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. POSITIONING REGULATOR WITH REFERENCE MODEL
• 3. ALGORITHM FOR DISTRIBUTION OF FORCES AND MOMENTS AMONG ACTUATING MECHANISMS
• 4. EXAMPLE OF AUUV CONTROL SYSTEM
• 5. CONCLUSIONS
• REFERENCES