基于海流观测器对欠驱动水下机器人进行三维路径跟随  

Path-following in 3D for underactuated autonomous underwater vehicle based on ocean-current observer

作　　者：杨莹[1,2] 夏国清[1] 赵为光[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]黑龙江科技大学电气与控制工程学院,黑龙江哈尔滨150022

出　　处：《控制理论与应用》2013年第8期974-980,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(50979017)

摘　　要：对模型参数未知的欠驱动水下机器人,本文设计了海流中三维路径跟随控制器.该方法在无旋流的前提下,利用海流的运动方程,结合三维视线导航法和反步法,设计了控制器.通过死区方法估计模型参数,克服了参数漂移问题;针对海流未知情况,设计了海流观测器.最后通过Lyapunov稳定性理论证明了跟踪误差是收敛的,仿真实验验证了该控制方法的有效性.A path-following controller in 3D is developed for an underactuated autonomous underwater vehicle with unknown physical parameters in the presence of ocean-current. Assuming the current is irrotational, we design the controller based on the motion equations of the ocean currents by combining with the line of sight （LOS） guidance algorithm and the backstepping technique. The dead-zone methods are used to estimate the unknown parameters to avoid the parameter drift. The current observer is used to estimate unknown ocean-current velocities. Finally, the stability analysis is carried out by using Lyapunov stability theory. Numerical simulations show the effectiveness of the proposed controller.

关 键 词：自主水下机器人 路径跟随 死区方法 海流观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]