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RSS订阅adaptive dynamic programming
Nowadays, nonlinearity is involved in all walks of life. It is a challenge for
engineers to design controllers for all kinds of nonlinear systems. To handle this
issue, various nonlinear control theories have been developed, such as theories of
adaptive control, optimal control, and robust control. Among these theories, the
theory of optimal control has drawn considerable attention over the past several
decades. This is mainly because optimal control provides an effective way to design
controllers with guaranteed robustness properties as well as capabilities of opti-
mization and resource conservation that are important in manufacturing, vehicle
emission control, aerospace systems, power systems, chemical engineering pro-
cesses, and many other applications.
2018-05-30
6自由度AUV的matlab仿真
这是基于matlab对AUV的模型仿真，无缆水下机器人的英文缩写。
水下工程设备，水下机器人的一种。习惯称为自主式水下潜器(Autonomous Underwater Vehicle，简称AUV)。
水下机器人主要分为两大类：一类是有缆水下机器人，习惯称为遥控潜器(Remote Operated Vehicle，简称ROV)；另一类是无缆水下机器人，习惯称为自主式水下潜器(Autonomous Underwater Vehicle，简称AUV)。自主式水下机器人是新一代水下机器人，具有活动范围大、机动性好、安全、智能化等优点，成为完成各种水下任务的重要工具。例如，在民用领域，可用于铺设管线、海底考察、数据收集、钻井支援、海底施工，水下设备维护与维修等；在军用领域则可用于侦察、布雷、扫雷、援潜和救生等。由于无缆水下机器人具有活动范围不受电缆限制，隐蔽性好等优点，所以从60年代中期起，工业界和军方开始对无缆水下机器人发生兴趣。
2017-09-21
机器学习-第七章贝叶斯分类
贝叶斯决策论是概率框架下实施决策的基本方法。对分类任务来说，在所有相关概率都已知的理想情形下，贝叶斯决策论考虑如何基于这些概率和误判损失来选择最优的类别标识。
2018-11-22
Che2019_Article_AnImprovedAntColonyOptimizatio.pdf
The motion control of autonomous underwater vehicle (AUV) has got more and more attention because AUV has been used
in many applications in recent years. In order to ind the optimal path for AUV to reach the speciied destination in complex
undersea environment, an improved ant colony optimization (ACO) algorithm based on particle swarm optimization (PSO)
algorithm is proposed. Due to the various constraints, such as the limited energy and limited visual distance, the improved
ACO algorithm uses improved pheromone update rule and heuristic function based on PSO algorithm to make AUV ind
the optimal path by connecting the chosen nodes of the undersea environment while avoiding the collision with the complex
undersea terrain (static obstacles). The improved ACO algorithm based on PSO algorithm can overcome disadvantages of
the traditional ACO algorithm, such as falling into local extremum, poor quality, and low accuracy. Experiment results dem-
onstrate that improved ACO algorithm is more efective and feasible in path planning for autonomous underwater vehicle
than the traditional ant colony algorithm.
2020-06-25
ifs-37-ifs190294.pdf
Inthispaper,aniterativeadaptivedynamicprogrammingalgorithmisproposedtodealwiththeoptimaltrajectory-
tracking control problems for autonomous underwater vehicle. Two iteration procedures are used in the method, which are
the i-iteration and the j-iteration.The i-iteration aims to obtain iterative trajectory-tracking control laws and the j-iteration
aims to obtain iterative value functions in the i-iteration. The optimal tracking control problem is converted into an optimal
regulation problem by system transformation. Then the optimal regulation problem is solved by the policy iteration adaptive
dynamic programming algorithm. The policy iteration algorithm is the interacting policy and value iteration algorithms. The
neural networks are used to realize the proposed algorithm and the convergence and optimality properties of the proposed
algorithm are analysed. Finally, simulation example is given to show the performance of the iterative adaptive dynamic
programming algorithm.
2020-06-25
1-s2.0-S0925231220309978-main.pdf
This paper investigates fault-tolerant tracking control problem for autonomous
underwater vehicle (AUV) with rudders faults and ocean current disturbance.
The adaptive dynamic programming (ADP) method is adopted to transform the
fault-tolerant tracking control problem into an optimal control problem. Two
neural-network estimators (NNEs) are designed to estimate rudders faults and
ocean current disturbance respectively. The estimated rudders faults and the
estimated ocean current disturbance are utilized to construct the performance
index function. By using policy iteration (PI), critic neural network and action
neural network are constructed to solve the Hamilton-Jacobi-Bellman (HJB)
equation. The error tracking system of AUV is guaranteed to be uniformly ul-
timately bounded (UUB) based on the Lyapunov stability theorem. Simulation
results are given to verify the effectiveness of the control scheme proposed in
this paper.
2020-06-25
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