基于遗传算法的水下机器人滑模变结构控制策略  

Sliding Mode Variable Structure Control Strategy of Underwater Vehicle Based on Genetic Algorithm

作　　者：徐强[1] 章家岩[1] 杜翠翠[1] 冯旭刚[1] 

机构地区：[1]安徽工业大学电气与信息工程学院,安徽马鞍山243032

出　　处：《安徽工业大学学报（自然科学版）》2016年第3期261-265,共5页Journal of Anhui University of Technology（Natural Science）

基　　金：安徽省教育厅自然科学重点项目(KJ2015A058)

摘　　要：针对水下机器人需快速、准确跟踪目标的要求,在分析其非线性四自由度动力学模型的基础上,运用李雅普诺夫稳定性分析法,提出一种基于遗传算法的水下机器人滑模变结构控制方法。设计遗传-滑模控制器,利用遗传算法对控制器参数进行优化以消减抖振,并通过动态选优,选取全局最优解,进而提高收敛速度,实现运动状态的实时调整。仿真结果表明,该控制方法能够高效地获取全局最优解,并具有较强的自适应能力,能够有效地实现水下机器人的轨迹跟踪。To track the target quickly and accurately, based on the analysis of the four degree of freedom nonlineardynamic model, and with Lyapunov stability analysis method, a sliding mode variable structure control methodfor autonomic underwater vehicle （AUV） was proposed. A genetic-sliding mode controller was designed, and itsparameters were optimized with genetic algorithm to reduce vibration. In addition, the global optimal solution waschosen dynamically, so as to improve the convergence speed, and implement the motion state real-time adjustment.The simulation results demonstrat that the method can obtain the global optimal solution efficiently with betterself-adaptive ability and can realize the trajectory tracking of the AUV efficiently.

关 键 词：水下机器人 遗传算法 滑模控制 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]