基于生物启发模型的自治水下机器人平面轨迹跟踪控制  

Plane trajectory tracking control of autonomous underwater vehicles based on a biologically inspired shunting model

作　　者：杨蕊蕊[1] 朱大奇[1] 

机构地区：[1]上海海事大学信息工程学院,上海201306

出　　处：《上海海事大学学报》2011年第3期58-63,共6页Journal of Shanghai Maritime University

基　　金：上海市科学技术委员会长三角科技联合攻关项目(10595812700);上海市教育委员会科研创新重点项目(10ZZ97);上海海事大学校基金(20110010;20110032)

摘　　要：针对自治水下机器人(Autonomous Underwater Vehicles,AUV)轨迹跟踪的速度跳变问题,根据AUV平面运动学模型,采用生物启发神经网络构造一种简单的虚拟变量,并结合Lyapunov函数设计出平面轨迹跟踪控制律,其控制效果能够达到全局渐进稳定,且能避免产生过大的力和力矩,满足AUV推进器的推力约束.应用该控制律对平面中不同轨迹的跟踪仿真证明其正确性和有效性.In view of the problem of velocity jump during the trajectory tracking of autonomous underwater vehicles（AUV）,on the basis of the plane kinematics model of AUV,a biologically inspired shunting model is used to construct a simple virtual variable,and a plane trajectory tracking control law is designed combining with Lyapunov function.The result of the control law proves to be global asymptotic stability,and can avoid excessive force and torque to meet the thrust constraints of AUV propeller.Simulations of the tracking of different trajectories on the plane by using the control law show the correctness and effectiveness of the proposed control law.

关 键 词：自治水下机器人 生物启发模型 轨迹跟踪 全局渐近稳定 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]