摘要：The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respectively. To evaluate the design approach,it is then utilized to synthesize the autopilot for flight control of Subzero Ⅲ,a low cost test-bed for AUV control techniques. Both simulations and water trails verify the effectiveness of the design approach.

摘要：To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areodynamic floating. The model reference adaptive control was combined with the variable structure control to design a model reference variable structure (MRVS) control system whose control structure is simple and can be realized easily. The simulation results indicate that MRVS can complete the task of transferring guidance command and suppress the distrubances effectively.

摘要：Linear Quadratic Regulator （LQR） is modem linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control （LQRIFC） simultaneously makes use of the good performance of LQR in the region close to switching curve, and the effectiveness of fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into fuzzy control. The LQRIFC is verified by simulation to suppress the uncertainty instability more effectively than the LQR besides minimizing the time of the mission proposed.

摘要：The roll motions of ships advancing in heavy seas have severe impacts on the safety of crews,vessels,and cargoes;thus,it must be *** study presents the design of a rudder roll damping autopilot by utilizing the dual extended Kalman filter(DEKF)trained radial basis function neural networks(RBFNN)for the surface *** autopilot system constitutes the roll reduction controller and the yaw motion controller implemented in *** analyzing the advantages of the DEKF-trained RBFNN control method theoretically,the ship’s nonlinear model with environmental disturbances was employed to verify the performance of the proposed stabilization *** sailing scenarios were conducted to investigate the motion responses of the ship in *** results demonstrate that the DEKF RBFNN based control system is efficient and practical in reducing roll motions and following the path for the ship sailing in waves only through rudder actions.

摘要：autopilot is an important navigation instrument,and it plays an important role in safe navigation In order to further improve the performance of the autopilot,this paper adopts the first-order closed loop gain shaping algorithm(PID)to designautopilot control algo rithm with robustness and uses tangent function nonlinear feedback technology to replace the linear feedback to improve the energy saving effect of *** Dalian Maritime University’s newly-built YUPENG ship as anexample,the simulation research is carried *** results show that the control effect is still satisfactory when the model parameterschange by25%,which suggests that the designed autopilot algorithm has good *** with linearfeedback,nonlinear feedback can save7.9%of *** algo rithm proposed in this paper is simple and has obvious *** the same time,the control algorithm is also helpful for the localization of controller design

摘要：The flying of aircraft information necessitates the extension of the theory of formation flight control to allow for three dimensional formation maneuvers. A leader and wingman formation is considered. A rotating reference frame attached to the wingman is used and special attention is given to the motion of the leader relative to the wingman. A thirteen state, three inputs, and three disturbances signal control system which models the dynamics of a two aircraft formation in three dimensional spaces is developed. The theory of formation control was applied to KC-130J tanker and F-16 receiver configuration to study the availability of performing such mission on a large scale. Three formation flight control concepts are investigated. A proportional, integral, and derivative automatic control system to maintain the wing aircraft in the specified formation geometry despite the leader＇s maneuvers is designed, and its performance is examined in simulation experiments. By adding special compensation to each control law to maintain the design damping ratio and gain margin, it is possible to reach the desired performance satisfying the predefined relative distances boundaries.