鱼雷形水下机器人非线性航迹跟踪控制


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. 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. 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/Abstract

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:

TP 242

苏玉民1, 曹建1, 徐锋2, 张国成1. 鱼雷形水下机器人非线性航迹跟踪控制
[J]. 上海交通大学学报（自然版）, 2012, 46(06): 977-983.

SU Yu-Min-1, CAO Jian-1, XU Feng-2, ZHANG Guo-Cheng-1. Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles[J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 977-983.

参考文献

［1］Do K D, Jiang Z P. Robust and adaptive path following for underactuated autonomous vehicles［J］. Ocean Engineering, 2004, 31(16): 19671977.

［2］Do K D, Pan J. Stateandoutput feedback robust path following controllers for underactuated autonomous vehicles［J］. Ocean Engineering, 2004, 31(56): 587613.

［3］Lapierre L, Soetano D. Nonlinear pathfollowing control of an AUV［J］. Ocean Engineering, 2007, 34(1112): 17341744.

［4］Codhavn J M. Nonlinear tracking of underactuated surface vessels［C］//Proc of 35th IEEE Conference on Decision and Control. New York: IEEE Press, 1996: 987991.

［5］Encamacao P, Pacoal A, Arcak M. Path following for autonomous marine craft［C］//Proceedings of Fifth IFAC Conference on Maneuvering and Control of Marine Craft.Kidlington:Elsevier Press,2000:117122.

［6］Aicardi M, Casalino G, Indiveri G, et al. A planar path following controller for underactuated marine vehicles［C］//9th IEEE Mediterranean Conference on Control and Autonomous. Dubrovnik: IEEE Press, 2001: 16.

［7］Aicardi M, Casalino G, Bicchi A, et al. Closed loop steering of unicyclelike vehicles via Lyapunov technique［J］. IEEE Robotics and Automation Magazine, 1995, 2: 2735.

［8］Skjetne R, Fossen T I. Nonlinear maneuvering and control of ships［C］//Proceedings of OCEANS 2001 MTS/IEEE Conference and Exhibition. Washington DC: Marine Technol Soc Press, 2001: 18081815.

［9］王志文，彭秀艳，王大巍. SerretFrenet框架下欠驱动船的输出反馈路径跟踪鲁棒控制［J］. 船舶工程，2010， 32(6): 2428.

WANG Zhiwen, PENG Xiuyan, WANG Dawei. Path following robust output control of underactuated ship under SerretFrenet frame［J］. Ship Engineering, 2010, 32(6): 2428.

［10］王晓飞.基于解析模型预测控制的欠驱动船舶路径跟踪控制研究［D］.上海：上海交通大学船舶海洋与建筑工程学院, 2009.

［11］向先波.二阶非完整性水下机器人的路径跟踪与协调控制研究［D］.武汉：华中科技大学船舶与海洋工程学院， 2010.

［12］施生达.潜艇操纵性［M］. 北京:国防工业出版社, 1995.

［13］Micaelli A, Samson C. Trajectory tracking for unicycletype and twosteering wheels mobile robots［R］. France: INRIA, 1993.

［14］Prestero T. Verification of a sixdegree of freedom simulation model for the REMUS autonomous underwater vehicles［D］. USA: Department of Ocean Engineering and Mechanical Engineering, MIT, 2001.

[1]	李锦江, 向先波, 刘传, 杨少龙. 基于预设性能制导律的欠驱动AUV海底地形鲁棒时滞跟踪控制[J]. 上海交通大学学报, 2022, 56(7): 944-952.
[2]	吴利红, 封锡盛, 叶作霖, 李一平. 自主水下机器人强制自航下潜的类物理模拟[J]. 上海交通大学学报, 2021, 55(3): 290-296.
[3]	庞师坤，梁晓锋，李英辉，易宏. 基于零空间行为法的自主水下机器人避障策略[J]. 上海交通大学学报, 2020, 54(3): 295-304.
[4]	赵又群1，王健1，臧利国1，李波1，伍岳2. 不同轴距车辆路径跟踪研究[J]. 上海交通大学学报（自然版）, 2015, 49(04): 481-486.
[5]	万磊1，张英浩1，孙玉山1，李岳明1，何斌1. 欠驱动智能水下机器人的自抗扰路径跟踪控制[J]. 上海交通大学学报（自然版）, 2014, 48(12): 1727-1731.
[6]	张志, 胡立生. 一类非线性控制系统性能基准的估计[J]. 上海交通大学学报（自然版）, 2011, 45(08): 1101-1104.

鱼雷形水下机器人非线性航迹跟踪控制


Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

鱼雷形水下机器人非线性航迹跟踪控制 

Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

鱼雷形水下机器人非线性航迹跟踪控制
