自律型海中ビークルの流れ外乱中における最適誘導及び追従制御 Optimal Guidance and Tracking Control of Autonomous Underwater Vehicle under Flow Disturbances

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Numerical solution algorithm for the optimal guidance law of AUV (Autonomous Underwater Vehicle) is presented when it transfers between two pre-designated points in the region of flow disturbances. In the formulation of optimal guidance problem, position vector of the vehicle relative to the inertial frame is qualified as the state vector, while the vehicle's heading as the input. Total amount of time to reach the terminal point is the performance index to be minimized. By solving the optimal guidance law, optimized sequence of vehicle's heading is obtained in time domain, which is to be fed to the heading control system as the reference. Proposed algorithm is applicable to the time-varying flow disturbances as well as time-invariant ones, if only the distribution of them is known a priori. Strategy of optimal guidance with tracking control is applied to the navigation of r2D4, a newly developed AUV by IIS, the university of Tokyo. Effectiveness of optimal guidance law shows its primary dependency on the local distribution of flow disturbances.

収録刊行物

  • 日本機械学会論文集. C編

    日本機械学会論文集. C編 70(699), 3170-3177, 2004-11-25

    一般社団法人日本機械学会

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各種コード

  • NII論文ID(NAID)
    110006264132
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    7164808
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  CJP引用  NDL  NII-ELS 
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