Providing a Robust Aperiodic Transient Process in Motion Control System Unmanned Underwater Vehicle with Interval Parameters

Providing a Robust Aperiodic Transient Process in Motion Control System Unmanned Underwater Vehicle with Interval Parameters

Bibliographic Details
Parent link:	IFAC-PapersOnLine Vol. 51, iss. 29 : 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, Opatija, Croatia, 10–12 September 2018.— 2018.— [P. 220-225]
Main Author:	Gaivoronsky (Gayvoronsky) S. A. Sergey Anatolievich
Corporate Author:	Национальный исследовательский Томский политехнический университет Инженерная школа информационных технологий и робототехники Отделение автоматизации и робототехники (ОАР)
Other Authors:	Ezangina T. A. Tatiana Aleksandrovna, Khozhaev I. V. Ivan Valerievich
Summary:	Title screen The paper is dedicated to developing a method of synthesizing PI and PID-controllers, providing aperiodic transient processes in systems with interval parameters, particularly in motion control systems of unmanned underwater vehicles. Developed methods of a controller parametric synthesis are based on defining limits of a dominant root of a characteristic polynomial and a D-partition method in vertices of interval control system polytope of coefficients. Methods were applied to a problem of synthesizing a submerging control channel of a motion control system of an unmanned underwater vehicle with parametric uncertainty. Режим доступа: по договору с организацией-держателем ресурса
Published:	2018
Subjects:	электронный ресурс труды учёных ТПУ unmanned underwater vehicle motion control system root approach interval parameters aperiodic transient process беспилотные подводные аппараты системы управления корневой подход интервалы апериодические процессы
Online Access:	https://doi.org/10.1016/j.ifacol.2018.09.505
Format:	Electronic Book Chapter
KOHA link:	https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=660476

Internet

https://doi.org/10.1016/j.ifacol.2018.09.505