75276

Автор(ы): 

Антипов А. С. (ИПУ РАН, Лаборатория 37)
Краснов Д. В. (ИПУ РАН, Лаборатория 37)

Автор(ов): 

2

Параметры публикации

Тип публикации: 

Доклад

Название: 

Low-Speed Underwater Robot Control under Parametric and External Disturbances

Электронная публикация: 

Да

ISBN/ISSN: 

979-8-3503-3790-7

DOI: 

10.1109/MLSD58227.2023.10303999

Наименование конференции: 

  • 2023 16th International Conference Management of large-scale system development (MLSD)

Наименование источника: 

  • Proceedings of the 16th International Conference Management of Large-Scale System Development (MLSD)

Город: 

  • Moscow

Издательство: 

  • IEEE

Год издания: 

2023

Страницы: 

1-5 https://ieeexplore.ieee.org/document/10303999
Аннотация
The control plant is a low-speed, fully-actuated underwater robot, the mathematical model of which contains uncertain parameters. Based on the system’s transformation to a canonical form, a control law with uncertainty compensation is developed. We have proposed a state and disturbance observer with piecewise linear corrective actions, which provides information support for the control law.

Библиографическая ссылка: 

Антипов А.С., Краснов Д.В. Low-Speed Underwater Robot Control under Parametric and External Disturbances / Proceedings of the 16th International Conference Management of Large-Scale System Development (MLSD). Moscow: IEEE, 2023. С. 1-5 https://ieeexplore.ieee.org/document/10303999.