基于自适应方法的欠驱动AUV地形跟踪控制  

Underactuated AUV's bottom-following control based on self-adaptive method

作　　者：白继嵩 庞永杰[1] 万磊[1] 张英浩[1] 张强[1] BAI Ji-song PANG Yong-jie WAN Lei ZHANG Ying-hao ZHANG Qiang(Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China)

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2017年第6期83-88,共6页Electric Machines and Control

基　　金：国家自然科学基金(51309066)

摘　　要：为保证欠驱动智能水下机器人(AUV)面对干扰时具有更高精度的地形跟踪能力,提出一种自适应地形跟踪控制方法。首先,对某型欠驱动AUV进行了结构分析,建立了相关运动学及动力学模型;然后,提出一种结合模糊思想的自适应地形跟踪策略,并利用自抗扰控制建立相应运动控制器;最后,分别进行两组对比实验,以测试所设计地形跟踪方法的有效性。实验结果表明,所设计的欠驱动AUV自适应地形跟踪控制方法具有良好的响应能力,并且,相比于传统比例-积分-微分(PID)控制方法,能够更有效地抑制干扰所造成的震颤现象,具有更高的控制精确度。该控制方法的研究对提高欠驱动AUV在进行地形跟踪任务时的智能性具有一定意义。To ensure that an underactuated autonomous underwater vehicle （AUV）has better control ability in the bottom-following task, one self-adaptive bottom-following control method is designed, which can decrease the influence of the environment disturbance. Firstly, made a structure analysis for one underaetuated AUV, and built the corresponding kinematics and dynamics models. Secondly, offered one self-adaptive bottom-following strategy combined with fuzzy control, and designed the motion controller by active disturbance rejection control（ADRC）. Finally, made two contrast simulations to evaluate the effectiveness of the designed method. The control results show that the self-adaptive bottom-following control method has a good response capability. And compared with PID, it has better control precision under the influence of interference. The research of this control method has certain significance in improving underactuated AUV＇ s intelligence under the bottom-following task.

关 键 词：控制科学与技术 智能水下机器人 欠驱动 地形跟踪控制 自适应 模糊控制 自抗扰控制方法 

分 类 号：TM312[电气工程—电机]