全驱动自主水下机器人回收路径跟踪模糊滑模控制  

A Research on Fuzzy Sliding Mode Control for Fully Actuated AUV Recovery Path Tracking

作　　者：潘伟 曾庆军[1] 姚金艺 朱志宇[1] 夏楠 马洪潮 PAN Wei;ZENG Qingjun;YAO Jinyi;ZHU Zhiyu;XIA Nan;MA Hongchao(Electronic Information School,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212100

出　　处：《船舶与海洋工程》2022年第5期45-50,共6页Naval Architecture and Ocean Engineering

基　　金：国家自然科学基金(11574120)。

摘　　要：为满足全驱动自主水下机器人(Autonomous Underwater Vehicle, AUV)的水下搜救、回收和海底地貌成像等实际任务的需求,对全驱动AUV路径跟踪控制应用方法进行研究。阐述“探海Ⅱ型”全驱动AUV回收系统的组成,建立该AUV的水平面和垂直面数学模型,设计一种模糊滑模路径跟踪控制器,并对其进行仿真和湖试试验。结果表明:该AUV运行可靠,能较好地完成回收路径跟踪任务,满足水下实际任务需求;研究的AUV路径跟踪控制器对全驱动型AUV及其他领域的路径跟踪控制具有借鉴意义。The application of path tracking control for the fully-actuated Autonomous Underwater Vehicle(AUV) is studied to meet the requirements of underwater search and rescue, recovery and submarine geomorphology imaging. This paper illustrates the composition of independent-developed fully-actuated AUV recovery system T-SEA Ⅱ, the mathematical models established for AUV horizontal and vertical planes, the novel fuzzy sliding mode controller of path tracking designed, and the simulation and lake test undertaken. The introduction shows that the AUV developed runs reliably and it can better complete the recovery path tracking task and meet the actual underwater task requirements, and the AUV path tracking controller can be used both for the reference in the application of fully-actuated AUVs and for the purpose of path tracking control in other fields.

关 键 词：自主水下机器人(AUV) 路径跟踪 模糊滑模控制器 

分 类 号：U674.941[交通运输工程—船舶及航道工程] U664.82[交通运输工程—船舶与海洋工程]