Abstract
It is an important control process to operate motion of an submergence rescue vehicle(SRV). Seeing that the motion of the submergence rescue vehicle is special, it is necessary to employ non-linear predictive control system. For this reason, continuous dynamic performance of the system, the logical components and the operative restraints are expressed as the non-linear equations of state with the inequality restraints, and the model principle of hybrid system is introduced. The conclusion shows that it comes true to exactly control position and attitude of the SRV by means of non-linear model predictive control. The test in a model basin has also proved that the above methods are efficient.
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Foundation item: Supported by the National Defence Science and Industry Committee Foundation under Grant No.40104050101.
ZHENG Ke-wei was born in 1973. He is a PhD candidate for control theory and control engineering of College of Automation, Harbin Engineering University. His current research interests include autonomous control and simulation technology for submergence rescue vehicle.
BIAN Xin-qian was born in 1941. He is a professor and a PhD supervisor of college of Automation, Harbin Engineering University. His current research interests include control strategy of AUV and dynamic positioning etc.
SHI Xiao-cheng was born in 1957. He is a professor and a PhD supervisor of college of Automation, Harbin Engineering University. His current research interests include autonomous control and dynamic positioning etc.
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Zheng, Kw., Bian, Xq. & Shi, Xc. Study of station and attitude maneuver of submergence rescue vehicle. J Mar. Sc. Appl. 6, 15–20 (2007). https://doi.org/10.1007/s11804-007-6030-8
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DOI: https://doi.org/10.1007/s11804-007-6030-8