The Intelligent Control System and Experiments for an Unmanned Wave Glider.

ABSTRACT: The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the "Ocean Rambler" UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the lin

SUBMITTER: Liao Y 

PROVIDER: S-EPMC5179121 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature