欠驱动AUV水平面运动的镇定控制设计  

Self-collected Control Design of Planar Motion of Underactuated AUV

作　　者：李晔[1] 吴琪[1] 

机构地区：[1]哈尔滨工程大学船舶工程学院,哈尔滨150001

出　　处：《船舶工程》2013年第5期68-71,共4页Ship Engineering

摘　　要：通过对欠驱动AUV的水平面三自由度运动方程和轨迹方程的简化分析,设计了一种镇定控制律。基于全局微分同胚坐标变换将欠驱动AUV的数学模型转化为级联形式的非线性系统,并证明了原系统的镇定问题可简化为级联子系统的镇定问题。通过状态反馈控制研究得到镇定控制律,证明了控制律的收敛性,并且进行了镇定仿真实验演示。仿真结果表明控制律的有效性,能够在任意初始条件下实现镇定控制。A new self-collected control method is designed through simplifying the three degree of freedom planar kinematic and dynamic equations model. The mathematical model of the underactuated A UV can be transformed into a cascade nonlinear system based on a global differential homeomorphic coordinate conversion. It proves that the stabilization control problem of the original system can be reduced to the stabilization problem of the cascade subsystem. The self-collected control method is obtained by condition feedback control research, which proves the convergence of the control method. The simulation result proves that the self-collected control method is effective and can be achieved at any initial conditions.

关 键 词：欠驱动 自治水下机器人 镇定控制 李亚谱诺夫函数 反馈控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]