上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于轨迹线性化控制方法的全驱动自主式水下航行器轨迹跟踪控制

葛晖1，敬忠良1，高剑2
  

  1. (1.上海交通大学 航空航天学院， 上海 200040；2.西北工业大学 水下信息与控制国家重点实验室， 西安 710072)
  • 收稿日期:2010-07-28 修回日期:1900-01-01 出版日期:2011-02-28 发布日期:2011-02-28

Trajectory Tracking of Fully Actuated AUV Based on TLC Method

GE Hui1,JING Zhongliang1，GAO Jian2
  

  1. (1.School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;2.Key Laboratory of Underwater Information and Control, Northwestern Polytechnical University, Xi’an 710072, China)
  • Received:2010-07-28 Revised:1900-01-01 Online:2011-02-28 Published:2011-02-28

摘要： 基于轨迹线性化控制(Trajectory Linearization Control,TLC)方法研究了全驱动自主式水下航行器（AUV）的轨迹跟踪控制.利用微分方程奇异摄动理论中的时标分离思想，将全驱动AUV的轨迹跟踪控制系统分成快、慢回路，分别基于轨迹线性化思想设计出快、慢回路控制器；利用Lyapunov稳定性理论对闭环控制系统进行了稳定性分析，通过AUV爬升转弯过程的仿真验证了该控制方法的有效性.

关键词: 全驱动, 自主式水下航行器, 轨迹跟踪控制, 轨迹线性化控制, Lyapunov稳定性

Abstract: Trajectory linearization control(TLC) was used to design the trajectory tracking control system for the fully actuated underwater vehicle. The TLC method is a novel and effective control theory for the tracking and decoupling method for nonlinear system which is essentially robust to the outside disturbance and could adjust the bandwidth online. The whole trajectory tracking control system is divided into two loops: fast loop and slow loop based on the time scale separation idea which belongs to the differential equation singular perturbation theory. The TLC controller is designed for the two loops. Lyapunov method is used in the stability analysis. The simulation proves the availability of the TLC controllers.

中图分类号: