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| 1 | 多自主式水下机器人的路径规划和控制技术研究综述显示文摘自主式水下机器人(AUV)是海洋资源勘探和开发的重要工具,在民用和军用领域都发挥着重要作用。随着AUV技术的逐步成熟,通过构建多自主式水下机器人(MAUV)系统,令多个AUV协作完成水下作业任务已成为当前的发展趋势。MAUV系统对提高水下机器人的智能化水平及发展海洋化装备具有重要的理论研究意义和实用价值。介绍目前MAUV系统的应用现状和科研进展,并对MAUV协同路径规划和集群协同控制技术等研究热点进行系统化梳理,着重分析人工智能优化和编队协同的关键技术。最后,对MAUV系统未来的发展方向进行展望。 | 赵蕊 许建 向先波 徐国华 | 2018 | 中国舰船研究2018，13，6： | 10 |
| 2 | Coordination control strategy based on characteristic model for 3-bearing swivel duct nozzles显示文摘A coordination control strategy is developed for 3-bearing swivel duct(3BSD) nozzles. A 3BSD nozzle's deflection angle and direction are changed through rotations of three revolute pairs. There is a nonlinear relationship between the deflection angle/direction and the rotation angles. The rotation speed of a revolute pair is limited by the power of the actuator. The moment of inertia and the aerodynamic load for each revolute pair are different and time-varying. A high-precision control system of 3BSD nozzles is required for applications on vertical and/or short take-off and landing(V/STOL) aircrafts. Difficulties of coordination control of 3BSD nozzles are distinct travel ranges, speed constraints, time-varying dynamic models, and disturbances. The proposed control strategy is a combination of the characteristic model and the dynamic control allocation method. A dynamic control allocation module is used as the coordination supervisor, which is aware of the kinematic model, the constraints, and the dynamic models of the revolute pairs. Second-order characteristic models are used to represent the dynamic behavior of the revolute pairs. The gradient projection algorithm is modified for parameter estimation. A modified all-coefficient adaptive controller is developed to reject the disturbances. Experimental results of a scaled 3BSD nozzle indicate that the coordination control strategy is effective. | WANG Xiang Yang ZHU Ji Hong YANG Jia Li LIU Kai | 2014 | Science China(Technological Sciences)2014，57，12： | 3 |
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