上海交通大学学报(自然版) ›› 2012, Vol. 46 ›› Issue (06): 977-983.

• 自动化技术、计算机技术 • 上一篇    下一篇

鱼雷形水下机器人非线性航迹跟踪控制

苏玉民1,曹建1,徐锋2,张国成1   

  1. (1. 哈尔滨工程大学 水下机器人技术重点实验室, 哈尔滨 150001; 2. 上海交通大学 船舶海洋与建筑工程学院, 上海 200240)
  • 出版日期:2012-06-28 发布日期:2012-06-28

Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles

 SU  Yu-Min-1, CAO  Jian-1, XU  Feng-2, ZHANG  Guo-Cheng-1   

  1. (1. State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; 2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Online:2012-06-28 Published:2012-06-28

摘要: 研究了欠驱动自主式水下机器人路径跟踪问题.在SerretFrenet移动坐标系下,基于虚拟目标机器人建立了路径跟踪误差动力学方程.在此基础上,结合水下机器人动力学方程,设计了基于Lyapunov稳定性理论和反步法技术的控制器.仿真结果表明,提出的非线性反馈控制律能够保证路径跟踪误差快速收敛到零,使机器人沿着参考路径航行.

关键词: 非线性控制, 路径跟踪, 欠驱动系统, 自主水下机器人, SerretFrenet坐标系

Abstract: This paper researches on the problem of path-following control of underactuated autonomous underwater vehicles (AUV). In SerretFrenet frame, a pathfollowing error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle’s dynamics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was developed. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. The simulation results illustrate the performance of the control system proposed.

Key words: nonlinear control, path-following, underactuated vehicles, autonomous underwater vehicles, Serret-Frene frame

中图分类号: