دانلود کتاب Underwater Vehicles: Design and Applications

فهرست مطالب :

UNDERWATER VEHICLESDESIGN AND APPLICATIONS
UNDERWATER VEHICLESDESIGN AND APPLICATIONS
CONTENTS
PREFACE
Chapter 1ADAPTİVE ADJUSTMENT OF PROCESS NOİSECOVARİANCE İN KALMAN FİLTERFOR ESTİMATİON OF AUV DYNAMİCS
ABSTRACT
1. INTRODUCTION
2. MATHEMATICAL MODEL OF AUTONOMOUSUNDERWATER VEHICLE DYNAMICS
2.1. Diving Subsystem of Sample AUV Model
2.1.1. Discretization for Diving Subsystem
2.2. Steering Subsystem of Sample AUV
2.2.1. Discretization of Steering Subsystem
3. KALMAN FILTER FOR ESTIMATION OF AUV DYNAMICS
3.1. Optimum Linear Kalman Filter Equations
3.2. Adaptive Fading Kalman Filter
3.2.1. Adaptive Fading KF with Single Fading Factor
3.2.2. Adaptive Fading KF with Multiple Fading Factor
4. SIMULATION RESULTS
4.1. OKF Results
4.2. AFKF with SFF Simulation Results
4.3. AFKF with MFF Simulation Results
CONCLUSION
ACKNOWLEDGMENTS
REFERENCES
BIOGRAPHICAL SKETCHES
Chapter 2FROM NON-MODEL-BASED TO ADAPTIVEMODEL-BASED TRACKING CONTROL OFLOW-INERTIA UNDERWATER VEHICLES
Abstract
1. INTRODUCTION
1.1. Context
1.2. RelatedWork
1.3. Chapter Contribution and Organisation
2. VEHICLE DESCRIPTION AND MODELLING
2.1. Vehicle Description
2.2. Vehicle Modelling in Six Degrees of Freedom
2.2.1. Vehicle Kinematics in Six Degrees of Freedom
2.2.2. Vehicle Dynamics in Six Degrees of Freedom
3. PROPOSED CONTROL SOLUTIONS AND THEIRSTABILITY ANALYSIS
3.1. Control Solution 1: A Non-Model-Based Tracking ControlScheme
3.1.1. Background on PID Control Scheme
3.1.2. Application of the PID on Leonard Underwater Vehicle
3.1.3. Stability Analysis
3.2. Control Solution 2: A Model-Based Tracking Control Scheme
3.2.1. Background on the CT Control and Its Applicationon Leonard Underwater Vehicle
3.2.2. Stability Analysis
3.3. Control Solution 3: Adaptive Model-Based Tracking ControlScheme
3.3.1. Background on the APD+ Control Scheme and Its Application onLeonard Underwater Vehicle
3.3.2. Stability Analysis
4. SIMULATION RESULTS: A COMPARATIVE STUDY
4.1. Proposed Numerical Simulations Scenarios
4.2. Nominal Scenario (Results and Discussion)
4.3. Combined Scenarios (Results and Discussion)
CONCLUSION AND FUTURE WORK
ACKNOWLEDGMENTS
REFERENCES
Chapter 3CONTROLLERS TO AVOID COLLISIONWITH 3D OBSTACLES USING SENSORS
Abstract
1. INTRODUCTION
2. PRELIMINARY INFORMATION
2.1. Model
3. DEFINITIONS AND ASSUMPTIONS
4. CONTROL LAWS FOR COLLISION AVOIDANCE
4.1. Collision Prediction
4.2. Search for a Safe Velocity Vector Avoiding Collision
4.2.1. Constant-Speed Safe Maneuver
4.2.2. Variable-Speed Safe Maneuver
4.3. A Safe Velocity Vector Is Not Found
5. MATLAB SIMULATIONS
5.1. The Initial Position of the Vehicle Is (0, 50, 90)
5.2. The Initial Position of the Vehicle Is (0, 50, 50)
CONCLUSION
REFERENCES
INDEX
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