دوره 14، شماره 1 - ( مجله کنترل، جلد 14، شماره 1، بهار 1399 )                   جلد 14 شماره 1,1399 صفحات 93-113 | برگشت به فهرست نسخه ها

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Abooee A, eslami M, Haeri M. Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective. JoC. 2020; 14 (1) :93-113
URL: http://joc.kntu.ac.ir/article-1-509-fa.html
ابوئی علی، اسلامی مهران، حائری محمد. طراحی کنترل‌کننده‌های غیرخطی زمان-محدود مقاوم برای زیردریایی شش درجه آزادی به منظور ردیابی مسیر. مجله کنترل. 1399; 14 (1) :93-113

URL: http://joc.kntu.ac.ir/article-1-509-fa.html


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در این مقاله، ابتدا معادلات سینماتیکی و دینامیکی توصیف‌کننده‌ی مدل حرکت و مانور زیردریایی شش درجه آزادی ارائه می‌شوند. در ادامه، با تعمیم روش کنترل مد لغزشی ترمینال غیرتکین، سه دسته‌ی مجزا از ورودی‌های کنترلی برای زیردریایی شش درجه آزادی دارای نامعینی (شامل نامعینی‌های پارامتری، دینامیک‏های مدل‏نشده، نیروها و اغتشاش‏های ناشناخته وارده از اقیانوس) طراحی می‌شوند تا با اعمال هر دسته از ورودی‌های پیشنهادی، زیردریایی بعد از مدت زمان محدودی به مسیر دلخواه و مورد نظر همگرا شود و همواره در امتداد این مسیر مانور دهد. برای هر دسته از ورودی‌های کنترلی، سطوح لغزشی غیرخطی متفاوتی پیشنهاد شده‌اند که دارای چندین پارامتر اختیاری و آزاد می‌باشند. هم‌چنین، در فرآیند اثبات پایداری زمان-محدود سیستم حلقه‌بسته‌ی زیردریایی، برای هر کلاس از ورودی‌های کنترلی طراحی‌شده یک نامساوی کاربردی استخراج می‌شود تا زمان محدود مورد نیاز برای همگرایی به مسیر مورد نظر را تعیین کند. سه نامساوی حاصله نشان می‌دهند که زمان‌های محدود همگرایی، به شرایط اولیه زیردریایی و پارامترهای اختیاری و آزاد موجود در ورودی‌های کنترلی بستگی دارند. در انتها‌، ورودی‌های کنترلی پیشنهادی به صورت جداگانه بر روی مدل معروف زیر دریایی NPS AUV II مورد شبیه‌سازی کامپیوتری قرار می‌گیرند. نتایج حاصل از شبیه‌سازی‌ها نشان می‌دهند تمامی ورودی‌های پیشنهادی قادرند تا هدف ردیابی زمان-محدود را به خوبی برآورده سازند.
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نوع مطالعه: پژوهشي | موضوع مقاله: تخصصي
دریافت: 1396/5/11 | پذیرش: 1397/7/8 | انتشار: 1399/3/22

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