基于非线性稳定逆技术的水下滑翔机前馈控制器设计  

Nonlinear feed-forward control design for autonomous underwater glider based on stable-inversion technique

作　　者：孙启[1] 马捷[1] 杨海[2] 刘雁集 

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]中国船舶重工集团公司第七0一研究所,上海201102

出　　处：《舰船科学技术》2014年第4期87-92,96,共7页Ship Science and Technology

基　　金：国家自然科学基金资助项目(50979058)

摘　　要：针对具有非最小相不稳定内部动态的水下滑翔机运动控制问题,采用基于稳定逆技术的设计方法设计了前馈控制器。水下滑翔机在有限时间内的稳态间转换过程,被视作两点边值问题。将一种新型前馈控制器设计方法拓展,应用于非线性多输入多输出水下滑翔机系统;利用两点边值条件,为前馈控制器设计了期望输出轨迹。仿真结果表明,在设计的前馈控制器作用下,滑翔机内部动态的解,不仅是有界的,而且是因果的;通过选定合适的转换时间,可以满足滑翔机系统的输入输出限制,降低对控制输入激励的需求。In order to solve the underwater glider motion control problem with unstable nonminimum phase dynamic, a feed-forward controller was designed based on nonlinear stable-inversion technique. The presented approach treats the considered finite-time transition as a two-point boundary value problem and yields causal feed-forward trajectory, which are constant outside the transition interval. The simulation results validate that a causal and bounded solution were obtained for the internal dynamics, furthermore, the inputs and outputs could be satisfied through changing transition time.

关 键 词：水下滑翔机 非线性稳定逆技术 前馈控制 运动控制 

分 类 号：U674.83[交通运输工程—船舶及航道工程] TP242.6[交通运输工程—船舶与海洋工程]