喷水推进式水面机器人H_∞鲁棒航向跟踪控制  

Robust H_∞ yaw tracking control of a water-jet propulsion unmanned surface vehicle

作　　者：熊俊峰[1,2,3] 李德才 何玉庆[1,3] 韩建达[1] XIONG Jun-feng;LI De-cai;HE Yu-qing;HAN Jian-da(Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Liaoning 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China;Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangzhou Guangdong 511458, China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院大学,北京100049 [3]广州中国科学院沈阳自动化研究所分所,广东广州511458

出　　处：《控制理论与应用》2019年第2期165-174,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(61473282);广东省科技计划项目(2017B010116002);辽宁省自然科学基金项目(u1608253)资助~~

摘　　要：针对水面机器人(unmanned surface vehicle, USV)航向跟踪容易受到风、浪与水流干扰影响的问题,提出了一种基于线性变参(linear parameter varying, LPV)模型的H_∞鲁棒航向跟踪控制器.首先从水动力学机理出发,提出了基于速度变参的LPV模型.然后基于提出的速度变参LPV模型,利用线性矩阵不等式设计了USV的H_∞鲁棒航向控制器,用以抵抗风、浪与水流对机器人的影响.最后,在自主研发的3自由度欠驱动喷水推进式USV平台上进行了实验.实验结果表明,控制器可以实现鲁棒的航向跟踪控制.To solve the problem that the yaw tracking control of unmanned surface vehicle (USV) is easily influenced by wind, wave, and current, H∞ robust yaw tracking controller based on linear parameter varying (LPV) model is proposed. Firstly, a speed scheduled LPV model is constructed by considering the hydrodynamic mechanism. Then, based on the proposed speed scheduled LPV model, linear matrix inequality is used to design the H-infinity robust yaw tracking controller of the USV to attenuate the disturbances of wind, wave and current. Finally, experiments are carried out on a self-developed 3-degrees-of-freedom under-actuated water-jet propulsion USV. The experimental results show that robust yaw tracking is achieved by using the proposed controller.

关 键 词：水面机器人 动力学建模 参数辨识 H1鲁棒控制 航向跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]