基于自适应方法的欠驱动AUV地形跟踪控制

发布时间：2018-06-11 20:37

本文选题：控制科学与技术 + 智能水下机器人　；参考：《电机与控制学报》2017年06期

【摘要】：为保证欠驱动智能水下机器人(AUV)面对干扰时具有更高精度的地形跟踪能力,提出一种自适应地形跟踪控制方法。首先,对某型欠驱动AUV进行了结构分析,建立了相关运动学及动力学模型;然后,提出一种结合模糊思想的自适应地形跟踪策略,并利用自抗扰控制建立相应运动控制器;最后,分别进行两组对比实验,以测试所设计地形跟踪方法的有效性。实验结果表明,所设计的欠驱动AUV自适应地形跟踪控制方法具有良好的响应能力,并且,相比于传统比例-积分-微分(PID)控制方法,能够更有效地抑制干扰所造成的震颤现象,具有更高的控制精确度。该控制方法的研究对提高欠驱动AUV在进行地形跟踪任务时的智能性具有一定意义。
[Abstract]:An adaptive terrain tracking control method is proposed to ensure a higher precision terrain tracking capability for underactuated intelligent underwater vehicle (AUV) in the face of interference. Firstly, the structure of a certain type of underactuated AUV is analyzed, and the related kinematics and dynamics models are established. Then, an adaptive terrain tracking strategy combined with fuzzy idea is proposed, and the corresponding motion controller is established by using active disturbance rejection control (ADRC). Finally, two groups of comparative experiments were carried out to test the effectiveness of the designed terrain tracking method. The experimental results show that the proposed AUV adaptive terrain tracking control method has a good response ability, and compared with the traditional proportional integral differential (PID) control method, it can effectively suppress the tremor caused by interference. With higher control accuracy. The study of this control method is significant to improve the intelligence of underactuated AUV in terrain tracking task.
【作者单位】：哈尔滨工程大学水下机器人技术重点实验室;
【基金】：国家自然科学基金(51309066)
【分类号】：TP242

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