Significance Analysis of Connections in a Multivariable Mathematical Model of an Unmanned Underwater Vehicle for Common Motion Trajectories
| Parent link: | International Journal of Mechanical Engineering and Robotics Research Vol. 10, iss. 1.— 2021.— [P. 7-11] |
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| প্রধান লেখক: | |
| সংস্থা লেখক: | , |
| অন্যান্য লেখক: | , |
| সংক্ষিপ্ত: | Title screen Unmanned underwater vehicles often are to move effectively in all six degrees of freedom during their missions. To control such motion effectively it is necessary to synthesize an automatic system of motion control which would manipulate thrusters of underwater vehicle considering interactions between all degrees of freedom. Synthesizing such control system is a complex problem requiring sophisticated methods of synthesis, which becomes more complex if it is necessary to consider uncertainty of systems parameters and its non-linearity of its elements during the synthesis procedure. This makes a problem of reducing a number of interconnections between manipulated parameters of underwater vehicle motion highly relevant. Authors propose a method of assessing a significance of each interconnection on a base of simulation modeling of underwater vehicle motion along most common trajectories used during mission planning. This will allow to replace a full-dimensional control system with a multimodal control system consisting of a set of low-dimensional control systems controlling the motion along of each common trajectory. This will lead to significant simplification of synthesizing controllers. The method is based on original models of elements of a motion control system. Further research will be dedicated to software implementation of the assessment method and testing it on an unmanned underwater vehicle prototype. |
| ভাষা: | ইংরেজি |
| প্রকাশিত: |
2021
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| বিষয়গুলি: | |
| অনলাইন ব্যবহার করুন: | https://doi.org/10.18178/ijmerr.10.1.7-11 |
| বিন্যাস: | বৈদ্যুতিক গ্রন্থের অধ্যায় |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=665139 |
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| 200 | 1 | |a Significance Analysis of Connections in a Multivariable Mathematical Model of an Unmanned Underwater Vehicle for Common Motion Trajectories |f S. A. Gaivoronsky (Gayvoronsky), I. V. Khozhaev, T. A. Ezangina | |
| 203 | |a Text |c electronic | ||
| 300 | |a Title screen | ||
| 320 | |a [References: 20 tit.] | ||
| 330 | |a Unmanned underwater vehicles often are to move effectively in all six degrees of freedom during their missions. To control such motion effectively it is necessary to synthesize an automatic system of motion control which would manipulate thrusters of underwater vehicle considering interactions between all degrees of freedom. Synthesizing such control system is a complex problem requiring sophisticated methods of synthesis, which becomes more complex if it is necessary to consider uncertainty of systems parameters and its non-linearity of its elements during the synthesis procedure. This makes a problem of reducing a number of interconnections between manipulated parameters of underwater vehicle motion highly relevant. Authors propose a method of assessing a significance of each interconnection on a base of simulation modeling of underwater vehicle motion along most common trajectories used during mission planning. This will allow to replace a full-dimensional control system with a multimodal control system consisting of a set of low-dimensional control systems controlling the motion along of each common trajectory. This will lead to significant simplification of synthesizing controllers. The method is based on original models of elements of a motion control system. Further research will be dedicated to software implementation of the assessment method and testing it on an unmanned underwater vehicle prototype. | ||
| 461 | |t International Journal of Mechanical Engineering and Robotics Research | ||
| 463 | |t Vol. 10, iss. 1 |v [P. 7-11] |d 2021 | ||
| 610 | 1 | |a электронный ресурс | |
| 610 | 1 | |a труды учёных ТПУ | |
| 610 | 1 | |a mathematical modeling | |
| 610 | 1 | |a underwater vehicle | |
| 610 | 1 | |a motion control system | |
| 610 | 1 | |a MIMO-system | |
| 610 | 1 | |a simulation modeling | |
| 610 | 1 | |a математическое моделирование | |
| 610 | 1 | |a подводные аппараты | |
| 610 | 1 | |a управление | |
| 610 | 1 | |a движение | |
| 610 | 1 | |a имитационное моделирование | |
| 700 | 1 | |a Gaivoronsky (Gayvoronsky) |b S. A. |c specialist in the field of informatics and computer technology |c Associate Professor of Tomsk Polytechnic University, Candidate of technical sciences |f 1961- |g Sergey Anatolievich |3 (RuTPU)RU\TPU\pers\32976 |9 16821 | |
| 701 | 1 | |a Khozhaev |b I. V. |c specialist in the field of informatics and computer engineering |c engineer of Tomsk Polytechnic University |f 1992- |g Ivan Valerievich |3 (RuTPU)RU\TPU\pers\35632 |9 18801 | |
| 701 | 1 | |a Ezangina |b T. A. |c specialist in the field of informatics and computer engineering |c engineer of Tomsk Polytechnic University |f 1987- |g Tatiana Aleksandrovna |3 (RuTPU)RU\TPU\pers\35631 | |
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