Based on the untethered AUV developed by our institute,this paper analyzes the navigation control and the position control methods of AUV. Meanwhile,the thruster arrangement,the control system configuration, and the thrusting force distribution of the AUV are introduced.
In order to have excellent control on AUV during maneuverable navigation the paper erected dynamical equation and established a nonlinear single input/single output system through analyzing AUV's motion state,at the same time transformed the complicated nonlinear model into reduction linear one by diffeomorphism and put forth a control method based on NN:using sliding mode ideology,feedback linearization theory and on-line modeling by NN together put forth robust adaptive control arithmetic based on NN,finally applied in the simulation of keeping same distance with seabed for AUV.The controller has satisfying control effect and the method is effective according as simulation result,it is of reference value for AUV's navigation control.
To work out a correct solution to mass information, plentiful tasks in the navigation control system, NCDCS (Navigation and Control Distributed Computing System) has been put forward in this thesis, which is based on Resource Broker.
本文提出了一种基于代理的分布式计算框架——NCDCS(Navigation and Control Distributed Computing System)。