Zhang Honghan

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Modern robust control theory was brought in the parameters design of tank stabilizers for ship, which can solve the nonlinear and model uncertainty exist in ship-tank-stabilizer system. An objective function for parameters optimization of tank stabilizers was established, which is suitable for tanks of different structure and system composed of multiple(More)
This paper presents the mission and motion control method of an Autonomous Underwater Vehicle (AUV) for ocean terrain survey. The motion modes of AUV in the terrain survey mission are analyzed and defined, including: way-point tracking motion and trajectory tracking motion. For terrain survey mission, AUV needs to track a series of points and paths in(More)
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