上海交通大学学报

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (07): 961-965.

• 自动化技术、计算机技术 • 上一篇    下一篇

海流作用下全驱动自主式水下航行器环境最优动力定位控制

葛晖，敬忠良   

  1. (上海交通大学 航空航天学院， 上海 200240)
  • 收稿日期:2010-07-27 出版日期:2011-07-29 发布日期:2011-07-29
  • 基金资助:

    中国博士后科学基金资助项目（20100470119），国家自然科学基金资助项目（60775022）

Weather Optimal Dynamic Positioning Control of Fully Actuated Autonomous Underwater Vehicles with Current

 GE  Hui, JING  Zhong-Liang   

  1. (School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-07-27 Online:2011-07-29 Published:2011-07-29

摘要：  针对海流作用下的全驱动自主式水下航行器(AUV)的动力定位控制，提出了一种新的环境最优动力定位控制策略.通过位置、姿态控制，使得水下航行器的头部“顶住”海流，并和目标点保持一定距离，此时海流的扰动力由轴向主推进器承担，减少了辅助推进器的工作量，同时降低能源消耗.考虑到海流作为系统模型中的非匹配不确定性，基于神经网络自适应反演法设计了动力定位控制器.通过计算机仿真，验证了控制算法的有效性以及鲁棒性.

关键词: 环境最优, 动力定位, 自主式水下航行器, 神经网络, 自适应反演

Abstract: The weather optimal dynamic positioning control was brought out for the fully actuated autonomous underwater vehicles(AUV) with the influence of current. The AUVs are controlled under certain position and posture with the antidirection of the current and holding the determinate distance. Then the current influence are cancelled out by the main thrusters without the help of other thrusters, at the same time, fuel consumption is reduced. Considering the unmatched uncertainties in the dynamic system for the reason of current, the adaptive backstepping control based on the neural network was used. The simulation proved the effectiveness of the dynamic positioning controller.

Key words: weather optimal, dynamic positioning control, autonomous underwater vehicle(AUV), neural network, adaptive backstepping

中图分类号: