Serret-Frenet坐标系下AUV自适应路径跟踪控制  

ADAPTIVE PATH FOLLOWING CONTROL OF AUTONOMOUS UNDERWATER VEHICLES IN SERRET-FRENET COORDINATE

作　　者：齐雪[1] 张利军[2] 赵杰梅[3] QI Xue ZHANG Lijun ZHAO Jiemei(College of Information and Network Engineering, Anhui Science and Technology University, Fengyang 233100 School of Marine Science and Technology, Northwestern Polytechnical University, Xi＇an 710072 School of Mathematic and Computer Science, Wuhan Polytechnic University, Wuhan 430023)

机构地区：[1]安徽科技学院信息与网络工程学院,凤阳233100 [2]西北工业大学航海学院,西安710072 [3]武汉轻工大学数学与计算机学院,武汉430023

出　　处：《系统科学与数学》2016年第11期1851-1864,共14页Journal of Systems Science and Mathematical Sciences

基　　金：安徽省教育厅自然科学重点项目(KJ2016A174);国家自然科学基金(61174047;51209051);西北工业大学基金(JC201230);预研项目(51316080301)资助课题

摘　　要：考虑自治水下机器人(AUV)在水平面运动状况,针对路径跟踪控制问题,为了简化控制器推导过程,引入Serret-Frenet坐标系,并在此坐标系下建立路径跟踪误差系统;路径上的虚拟参考目标点不是距离AUV的最近点,从而放宽了控制器设计的初始条件限制;同时考虑速度规划指标并采用视线角导航,使得AUV实现有经验的舵手操舵行为.该方法充分考虑了AUV动态系统中大量参数时变的特性,对于系统内部参数变化、不确定性以及外部干扰具有很强的鲁棒性.For the path following control of AUV in horizontal plane and simplify the controller derivation, the Serret-Frenet coordinate frame is introduced. In the Serret-Frenet coordinate frame, the path following error dynamics of the AUV is set up. The virtual reference target point on the path is not the nearest point to the AUV, which relaxes the restrictions on the initial conditions of controller design. Considering speed layout index and introducing the line-of-sight navigation, the AUV became an experienced helmsman. The control method fully considered the parameters＇ time- varying properties and has robustness for inner parameters＇ change, uncertainty, and external disturbance.

关 键 词：自治水下机器人 路径跟踪 自适应控制 SerretFrenet坐标系 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]