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1

Velocity controller for a class of vehicles

Herman P., Adamski W.

Foundations of Computing and Decision Sciences

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2017

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Vol. 42, No. 1

43--58

EN

This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

2

Non-adaptive velocity tracking controller for a class of vehicles

Herman P., Adamski W.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2017

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Vol. 65, nr 4

459--468

EN

A non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

3

Wyznaczenie ciśnienia obciążającego poszycie pojazdu morskiego wywołanego niekontaktowym wybuchem miny

Dobrociński S., Szturomski B., Flis L.

Zeszyty Naukowe Akademii Marynarki Wojennej

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2003

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R. 44 nr 2 (153)

5-13

PL

Celem pracy było wyznaczenie zmiennego w czasie obciążenia dla modelu dyskretnego konstrukcji stalowej pojazdu morskiego specjalnego przeznaczenia. Pojazd pływający na wodzie spokojnej, poddany został oddziaływaniu impulsu ciśnienia wywołanego niekontaktowym podwodnym wybuchem miny morskiej.

EN

The aim of the investigation was to determine the variable in time load for a I of steel structure of special-purpose maritime vehicle. The floating vehicle was exposed to pressure impulse caused by non-contact underwater mine explosion.

4

Analiza wytrzymałościowa konstrukcji pojazdu morskiego obciążonego niekontaktowym wybuchem podwodnym

Szturomski B., Dobrociński S., Flis L.

Zeszyty Naukowe Akademii Marynarki Wojennej

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2003

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R. 44 nr 1 (152)

125-130

PL

Celem pracy było określenie stanu deformacji i naprężenia w stalowej konstrukcji pojazdu morskiego specjalnego przeznaczenia , pływającego na wodzie spokojnej, wywołanego falą ciśnienia od niekontaktowego podwodnego wybuchu miny. W odpowiedzi na zadane obciążenia, konstrukcja ulega trwałym deformacjom, a naprężenia osiągają wartości bliskie granicy wytrzymałości.

EN

The aim of the investigation was to determine the state of deformation and stress in a special-purpose maritime vehicle floating in clam water, caused by the pressure wave from non-contact underwater mine explosion. In response to the given loads the structure undergoes plastic deformation, and stress values reach the strength limits.