生物启发AUV三维轨迹跟踪控制算法  

Biological inspired three-dimensional tracking control algorithm for autonomous underwater vehicles

作　　者：朱大奇[1] 张光磊[1] 李蓉[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

出　　处：《智能系统学报》2014年第2期180-185,共6页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(51075257;51279098);上海市科委创新行动计划资助项目(13510721400);上海市教委科研创新研究重点资助项目(13ZZ123)

摘　　要：针对水下机器人轨迹跟踪控制的速度跳变问题,提出了一种基于生物启发神经动力学模型的自治水下机器人(AUV)三维轨迹跟踪控制算法。利用生物启发神经动力学模型的平滑、有界输出的特性,构造简单的中间虚拟变量,克服了海流影响下AUV反步轨迹跟踪控制的速度跳变问题,并且控制效果能够达到全局渐近稳定、输出结果连续平滑。利用Lyapunov函数证明了所提方法的稳定性。将该方法对"海筝二号"水下机器人进行三维轨迹跟踪控制的仿真实验,仿真结果表明了所提控制方法的有效性。To deal with the speed jump problem with the traditional backstepping tracking controller, a three-dimen- sional tracking control algorithm on the basis of the bio-inspired dynamic model of the autonomous underwater vehi- cle （AUV） for ocean currents is proposed in this paper. Because of the smoothness and boundedness of the output from the bio-inspired model, a simple virtual variable is constructed by using the bio-inspired model to make the re- sults of the control global asymptotically stable and the output continuously smooth. As a result, the speed jump problem can be solved. The stability of the system can he demonstrated by the Lyapunov function. Finally, this con- trol method is applied to simulate the three-dimensional trajectory tracking control on the HAIZHNG Ⅱ AUV. The correctness and effectiveness of the proposed control law are verified by the simulation.

关 键 词：自治水下机器人 生物启发模型 反步轨迹跟踪 速度跳变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]