多形态拟合水下潜器欠驱动运动控制与目标跟踪  

作　　者：辛光红[1] 陈晓虎[1] 韩建芳[1] 

机构地区：[1]三亚学院,海南三亚572000

出　　处：《科学技术创新》2021年第35期23-25,共3页Scientific and Technological Innovation

基　　金：海南省自然科学基金青年项目,项目号:619QN242。

摘　　要：多形态拟合水下潜器是一种具备ROV、AUV、AUG三种潜器模式转换的新型水动力及控制拟合潜器。其具备三种潜器的优点,同时也存在控制模型复杂、鲁棒性差等缺点。本文根据多形态拟合对水下潜器欠驱动系统的未知外部影响,采用了自适应模糊与逆演滑模监控方式,并单独产品设计成水平与垂直路线的追踪控制单元。通过Serret-Frenet坐标系来定义路线追踪偏差,将路线参数视为监督变量引入控制系统,并通过调节其趋变率来逐渐实现和预设路径拟合。通过实验仿真,本文设计的自适应类控制器在水平和垂直路径跟踪控制方面表现出了较好的鲁棒性。本文提出的控制方法可以作为水下潜器欠驱动控制的有益借鉴。The multi-morphologic fitting underwater vehicle is a new hydrodynamic and control fitting underwater vehicle with ROV, AUV and AUG mode conversion.It has the advantages of three kinds of submersibles, but also has some disadvantages such as complex control model and poor robustness.In this paper, horizontal and vertical path tracking control systems are designed respectively based on adaptive fuzzy inverse sliding mode control method to solve the unknown external disturbances of the underactuated system of a multiform underwater submersible.The serret-Frenet coordinate system was used to describe the path tracking error. The path parameters were taken as additional control variables, and the path tracking error was gradually reduced by adjusting the rate of change.The simulation results show that the horizontal and vertical path tracking control system based on adaptive fuzzy inverse sliding mode has good adaptability and strong robustness.The control method proposed in this paper can be used as a useful reference for underactuated control of underwater submersible.

关 键 词：多形态拟合 水下潜器 欠驱动控制 运动控制 轨迹跟踪 

分 类 号：U674.941[交通运输工程—船舶及航道工程]