基于遗传算法的UUV的容错控制律重构方法  

A Control Law Reconfiguration Method Based on Condition Constraint Genetic Algorithm for Underwater Vehicles

作　　者：胡维莉[1] 朱大奇[1] 刘静[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海200135

出　　处：《控制工程》2011年第3期413-416,428,共5页Control Engineering of China

基　　金：国家自然科学基金课题(50775136);上海市自然科学基金(07ZR14045);上海市教委创新基金课题(09YZ248/2008095)

摘　　要：针对推进器拥堵故障下,水下机器人可靠性控制问题,将遗传算法引入容错控制律重构之中,提出带约束条件遗传算法的水下机器人容错控制律重构方法。在不同故障情况下,给出相关故障权矩阵,用遗传算法寻找控制矩阵的最优解,重构推进器的控制矩阵。相对于控制矩阵伪逆重构方法,得到的控制量不需要经过截断近似或是放缩近似,从而避免了由于截断或是放缩近似造成的误差,仿真结果表明了所提控制律重构算法的有效性。The thruster fault-tolerant approach for underwater vehicles is presented by using the condition constraint GA （Genetic Algo- rithm）. The corresponding fault weighting matrix is developed for faulty situations, and the control matrix is reconstructed by using the faults of the thruster detected and the GA. Comparing with the method of the weighted pseudo-inverse, the proposed approach does not need truncation or scaling to ensure the feasibility of the solution. Both the magnitude error and direction error of the obtained control input vector using GA are equal to zero. The exPerimental results demonstrate that the proposed scheme based on GA is effective.

关 键 词：容错控制 遗传算法 故障诊断 水下机器人 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]