Dissertation > Excellent graduate degree dissertation topics show

Research on Intelligent Control Techniques for Motion Control of Underwater Vehicles

Author: TianYu
Tutor: XuYuRu
School: Harbin Engineering University
Course: Design and manufacture of ships and marine structures
Keywords: underwater vehicle motion control fuzzy control neural network control expert control
CLC: U674.941
Type: Master's thesis
Year: 2007
Downloads: 388
Quote: 6
Read: Download Dissertation

Abstract


Presently, intelligent control is the hotspot in the research field of motion control of Underwater Vehicles (UVs), and it is the research direction in the future to a great extent. This dissertation aims at the application of intelligent control techniques to motion control of UVs, and trying to design a control system with nice performance.First, the motion simulation model of the UV is analyzed, including current and wave effects, then the simulation system in the dissertation is constructed on the basis of this model.Fuzzy control, neural network control and expert control are mainly studied. A kind of self-adjusting fuzzy control is studied, by adjusting fuzzy control rules expressed in analytical form through intelligent weight function, not the defect of establishing satisfactory fuzzy control rules through experience is overcame, but the robustness and adaptability of the fuzzy control system are improved. Neural network feed-forward inverse control for the UV is proposed, this feed-forward/feedback compound control strategy trains the neural network feed-forward controller with the instruction of motion will of the UV to be the inverse dynamic model of the UV, it does not need identification of the UV and the stability of the control system is guaranteed. S plane control method is a simple but practical control method for motion control of UVs. Expert S plane intelligent control method is proposed in the dissertation. S plane controller’s parameters are adjusted on-line using expert controller for improvement of S plane controller’s performance, and man-imitating intelligent integral is introduced for improvement of S plane controller’s steady-state accuracy.Controllers of each control method studied are designed respectively, and simulation experiments are carried out correspondingly, which validate the feasibility of the control methods studied in the dissertation.

Related Dissertations

  1. Research of Image Guided Technology for Cable Tunnel Patrol Vehicle,U469.6
  2. Several Key Issues on Closed-Loop Control for Precision Laser Tracking Device,TN249
  3. The Application of Fuzzy Control and Neural Network in Planar Double Inverted Pendulum,TP273.4
  4. Design of Weapon Detection Device Control System,TP183
  5. Study on Adaptive Fuzzy Control Algorithm and Its Implementation,TP273.4
  6. Research on Work Flow Simulation Technology of FROV,TP242
  7. The Grid-Connected Wind-solar Hybrid Generation System and Maximum Power Point Tracking,TM61
  8. Research on Adaptive Control of Recovery of UUV with Near Wall Constraint,TP273
  9. Control System of Rotary Drying for Flake Agricultural Materials,S226.6
  10. Design and Research of a Multi-Use End-Effector for Harvesting Robot,S24
  11. The Design of Experimental Device for Mine Motor Soft Starter,TM343.2
  12. Virtual Human Motion Simulation,R318.0
  13. Saw motor energy-saving controller for tilting sand stone processing DSP-based research and development,TM343
  14. Medium Density Fiberboard Drying System and PLC Control System Design,TP273
  15. Design of Intelligent Supervisory Control System for Wastewater Treatment,TP277
  16. Optimal Control of Emulsion System in Cold Rolling,TP273
  17. Research on Grinding and Classification Process Control of Sijiaying Concentrator,TP29-A1
  18. Research on pH Value of the Control Technology for Acid-contained Wastewater Integrated Treatment System in Ningxia Hengli,TP273
  19. Study on Industrial Boiler Water Level Control System,TP273
  20. The Design and Study of Control System of Car-type Heat Treating Furnace,TG155.92
  21. Intelligent traffic signal control based on fuzzy logic method and simulation research,U491.54

CLC: > Transportation > Waterway transport > Marine Engineering > Various types of vessels > Ships: navigation state points > Dive boat
© 2012 www.DissertationTopic.Net  Mobile