پديد آورنده :
سوادي مفرد، محمد مهدي
عنوان :
كنترل تطبيقي غير مستقيم شناورهاي زير سطحي خودگردان
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
يازده،89ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
توصيفگر ها :
مقاوم , تخمين اكرانت اغتشاشات
تاريخ نمايه سازي :
93/12/19
استاد داور :
فريد شيخ الاسلام، مرضيه كمالي
دانشكده :
مهندسي برق و كامپيوتر
چكيده انگليسي :
Indirect Adaptive Control of Autonomous Underwater Vehicles Mohammad Mahdi Savadi mm savadi@ec iut ac ir Date of Submission 2014 09 22 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Mohammad Danesh danesh@cc iut ac irAbstractMore than 70 of the earth is covered by seas and oceans that are vast and valuable resources of the earth Seas play important role in strategic military political and economic issues Due to difficulty and high costof research and activity in underwater environments using of underwater robots is useful in these areas Among these robots autonomous underwater vehicles AUVs are popular Today s these robots are used invarious commercial military and scientific applications Nonlinear dynamics structural and nonstructuraluncertainty and external disturbances has caused challenges for control of these robots Therefore by use ofan adaptive control system that is robust with respect to external disturbances can be overcome thesechallenges In this project the mathematical model of an AUV described and then two control systems are proposed forthis model First an adaptive robust control scheme for six degree of freedom of AUV is expressed that byusing two different adaptation laws parameters of the systems and bound of the disturbances vector areestimated and are used in the control law Since linear velocities of underwater robots are often unavailable these velocities are estimated by extended Kalman filter EKF In this project EKF is applied to simplifiedmodel of vehicle In second section of the project the model of AUV is divided into horizontal and vertical planes and anadaptive controller is proposed in these two planes to control depth and heading of the AUV If vehicle hasroll model of AUV can not be separated into these two planes Thus in this thesis by using sometransformation roll of the vehicle is damped In the following stability of both controllers is proven byusing Lyapunov theory and Barbalat s lemma Finally the proposed control systems are simulated in six degree of freedom model of the AUV which represent that the controllers are robust with respect tomeasurement noise external disturbances and uncertainty in the model Keywords autonomous underwater vehicle robust adaptive control external disturbance estimation
استاد داور :
فريد شيخ الاسلام، مرضيه كمالي
