基于稳定逆的UUV路径跟踪控制  

Path Following Control for UUV Using Stable Inversion

作　　者：严浙平[1] 迟冬南[1] 邓超[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国造船》2013年第1期136-145,共10页Shipbuilding of China

基　　金：国家自然科学基金资助项目(51179038);教育部新世纪优秀人才支持计划资助(NCET-10-0053)

摘　　要：针对水下无人潜航器(Unmanned Underwater Vehicle,UUV)路径跟踪过程中存在的非最小相位特性,提出了一种基于稳定逆的UUV路径跟踪控制方法。根据稳定逆的思想,首先,求取跟踪系统内动态的有界解;通过求解过程,设计了跟踪系统基于期望轨迹的稳定逆;由稳定逆产生期望控制输入和期望的状态轨迹,反馈控制器实现了系统在线完成对期望轨迹的精确跟踪。仿真实验证实该方法可以实现UUV对规划路径的精确跟踪。A feedback control algorithm using stable inversion is proposed owing to me presence o~ non-mmmmm phase characteristic during UUV path following process. In virtue of the idea of stable inversion, a bounded solution of internal dynamic for the system is obtained firstly. With the solution process, stable inversion of path following system is designed based on the expected path. Expected control inputs and the expected state path are generated as the outcomes using stable inversion. And the feedback control makes the exact path following for a predefined path.~Simulation has proved the efficient of the proposed method.

关 键 词：UUV 路径跟踪 稳定逆 内动态 非最小相位 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]