Design of the Intelligence Motion Control System for the High-speed USV
Research on enhancing the motion intelligence for water-jet-propelled Unmanned Surface Vehicle was undertaken. The hardware architecture of the USVS intelligent motion control system is presented in detail. According to its hardware configuration and working environment, the characteristic of USV system was analysed, which is that the system is an under actuated, huge-disturbance, uncertainty and nonlinear coupled system. In order to solving its intelligent control problem, a software design method, which is based on modularization and used in the VxWorks operating system, was presented. Then the software architecture for the intelligent motion control system was designed based on the method in detail. Finally, the simulation for the USV intelligent motion control system was done, and it showed that the intelligent system is reliability and feasibility.
Intelligence motion control USV architecture water-jet propulsion
Wu Gong-xing Zou Jin Wan Lei Qin Zai-bai
State Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin, Heilongjiang Province 150001, China
国际会议
长沙
英文
1976-1979
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）