Design of X-rudder autonomous underwater vehicle’s quadruple-rudder allocation with Lévy flight character
| Autor: | Yinghao Zhang, Yueming Li, Guocheng Zhang, Jiangfeng Zeng, Lei Wan |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | International Journal of Advanced Robotic Systems, Vol 14 (2017) |
| Druh dokumentu: | article |
| ISSN: | 1729-8814 17298814 |
| DOI: | 10.1177/1729881417741738 |
| Popis: | This article addresses one quadruple-rudder allocation method for an autonomous underwater vehicle (AUV) equipped with X rudder, in which all of the rudders can be operated independently. By considering X rudder’s character, one X-rudder AUV’s control information frame is designed. It contains the anti-normalization method based on virtual rudders and one quadruple-rudder allocation with Lévy flight character. This quadruple-rudder allocation method has the advantages of Lévy flight and avoids the shaking problem. One contrast simulation of a lawn mower path following mission in three-dimensional (3D) space is performed. The results of simulation show that the quadruple-rudder allocation with Lévy flight character can offer accurate and reliable control ability. Besides that, compared to the quadruple-rudder allocation based on pseudoinverse and fixed point iteration, the method designed with Lévy flight character can achieve the same mission with less X rudder’s operation. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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