基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制

贾鹤鸣; 张利军; 程相勤; 边信黔; 严浙平; 周佳加

doi:10.3724/SP.J.1004.2012.00308

基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制

doi: 10.3724/SP.J.1004.2012.00308

1.
哈尔滨工程大学自动化学院哈尔滨 150001;
2.
东北林业大学机电工程学院哈尔滨 150040;
3.
西北工业大学航海学院西安 710072

详细信息

通讯作者:
贾鹤鸣, 哈尔滨工程大学自动化学院博士.主要研究方向为非线性系统控制, 无人水下航行器控制技术. E-mail: jiaheminglucky99@126.com

计量
- 文章访问数: 2452
- HTML全文浏览量: 73
- PDF下载量: 1982
- 被引次数: 0
出版历程
- 收稿日期: 2011-03-03
- 修回日期: 2011-07-20
- 刊出日期: 2012-02-20

Three-dimensional Path Following Control for an Underactuated UUV Based on Nonlinear Iterative Sliding Mode

1.
College of Automation, Harbin Engineering University, Harbin 150001;
2.
College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040;
3.
School of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072

摘要

摘要: 为实现欠驱动无人水下航行器(Unmanned underwater vehicle, UUV)在未知海流干扰作用下的三维航迹跟踪控制, 提出一种基于工程解耦思想设计的非线性迭代滑模航迹跟踪控制器. 基于虚拟向导的方法,建立UUV空间航迹跟踪误差方程;采用迭代方法设计非线性滑模控制器, 无需对UUV模型参数不确定部分和海流干扰进行估计,避免了舵的抖振现象以及减小了稳态误差与超调问题. 仿真实验表明,设计的控制器对欠驱动UUV系统的模型参数摄动及海流干扰变化不敏感、且设计参数易于调节,可以实现三维航迹的精确跟踪.
- 欠驱动无人水下航行器 /
- 三维航迹跟踪 /
- 非线性迭代滑模 /
- 虚拟向导
Abstract: In order to realize the three-dimensional path following control for underactuated (Unmanned underwater vehicle, UUV) under unknown ocean current, a nonlinear iterative sliding mode controller based on engineering decoupling is presented. The path following error equations in three-dimensions are established based on the virtual guide method. Then, a nonlinear feedback controller is designed based on iterative sliding modes, without estimating uncertainties of UUV model and ocean current disturbances. The problem of chattering of the hydroplane is circumvented, and the static error and overshoot are decreased. The results of simulation experiments indicate that the controller is robust against the systemic variations and time-varying current disturbances. Moreover, the parameters are easy to adjust, and the tracking control with high tracking precision can be achieved by the proposed control method.
- Underactuated unmanned underwater vehicle /
- three-dimensional path tracking /
- nonlinear iterative sliding mode /
- virtual guidance method

HTML全文

参考文献(1)

[1]

Jiang Xin-Song, Feng Xi-Sheng, Wang Li-Tang. Unmanned Underwater Vehicles. Shenyang: Liaoning Science and Technology Press, 2000. 35-40(蒋新松, 封锡盛, 王棣棠. 水下机器人. 沈阳: 辽宁科学技术出版社, 2000. 35-40)[2] Xu Yu-Ru, Xiao Kun. Technology development of autonomous ocean vehicle. Acta Automatica Sinica, 2007, 33(5): 518-521(徐玉如, 肖坤. 智能海洋机器人技术进展. 自动化学报, 2007, 33(5): 518-521)[3] Wang Y T, Yan W S, Gao B, Cui R X. Backstepping-based path following control of an underactuated autonomous underwater vehicle. In: Proceedings of the 2009 IEEE International Conference on Information and Automation. Zhuhai, China: IEEE, 2009. 466-471[4] Wang Fang, Wan Lei, Li Ye, Su Yu-Min, Xu Yu-Ru. A survey on development of motion control for underactuated AUV Shipbuilding of China, 2010, 51(2): 227-241(王芳, 万磊, 李晔, 苏玉民, 徐玉如. 欠驱动AUV的运动控制技术综述. 中国造船, 2010, 51(2): 227-241)[5] Refsnes J E, Sorensen A J, Pettersen K Y. Model-based output feedback control of slender-body underactuated AUVs: theory and experiments. IEEE Transactions on Control Systems Technology, 2008, 16(5): 930-946[6] Tang Xu-Dong, Pang Yong-Jie, Li Ye, Zhang He. Chaotic process neuron control for AUVs. Control and Decision, 2010, 25(2): 213-217(唐旭东, 庞永杰, 李晔, 张赫. 基于混沌过程神经元的水下机器人运动控制方法. 控制与决策, 2010, 25(2): 213-217)[7] Bian Xin-Qian, Cheng Xiang-Qin, Jia He-Ming, Yan Zhe-Ping, Zhang Li-Jun. A bottom-following controller for underactuated AUV based on iterative sliding and increment feedback. Control and Decision, 2011, 26(2): 289-292(边信黔, 程相勤, 贾鹤鸣, 严浙平, 张利军. 基于迭代滑模增量反馈的欠驱动AUV的地形跟踪控制. 控制与决策, 2011, 26(2): 289-292)[8] Jalving B, Storkersen N. The control system of an autonomous underwater vehicle. In: Proceedings of the 3rd IEEE Conference on Control Applications. Glasgow, UK: IEEE, 1994. 851-856[9] Wang B, Su Y M, Wan L, Sun Y. Adaptive PID control system for an autonomous underwater vehicle. High Technology Letters, 2011, 17(1): 7-12[10] Repoulias F, Papadopoulos E. Trajectory planning and tracking control design of underactuated AUVs. In: Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE, 2005. 1610-1615[11] Repoulias F, Papadopoulos E. Planar trajectory planning and tracking control design for underactuated AUVs. Ocean Engineering, 2007, 34(11-12): 1650-1667[12] Lapierre L, Soetanto D. Nonlinear path-following control of an AUV. Ocean Engineering, 2007, 34(11-12): 1734-1744[13] Fu Jiang-Feng, Yan Wei-Sheng, Zhao Tao. Line tracking control of underactuated AUV. Computer Simulation, 2010, 26(10): 146-170(付江锋, 严卫生, 赵涛. 欠驱动AUV的直线航迹跟踪控制. 计算机仿真, 2010, 26(10): 146-170)[14] Shi Shu-Wei, Yan Wei-Sheng, Gao Jian, Li Wen-Bai. Path-following control of an AUV in the horizontal plane with constant ocean currents. Acta Armamentarii, 2010, 31(3): 375-379(施淑伟, 严卫生, 高剑, 李闻白. 常值海流作用下的AUV水平面路径跟踪控制. 兵工学报, 2010, 31(3): 375-379)[15] Encarnacao P, Pascoal A. 3D path following for autonomous underwater vehicle. In: Proceedings of the 39th IEEE Conference on Decision and Control. Sydney, Australia: IEEE, 2000. 2977-2982[16] Ding N, Li Z J, Yang C G, Ge T. Robust adaptive motion control for remotely operated vehicles with velocity constraints. In: Proceedings of the IEEE International Conference on Robotics and Biomimetics. Tianjin, China: IEEE, 2010. 932-937[17] Micaelli A, Samson C. Trajectory Tracking for Unicycle-Type and Two-Steering-Wheels Mobile Robots, Technical Report PDP.CNS.2097, INRIA, Sophia Antipolis, France, 1993[18] Aicardi M, Casalino G, Bicchi A, Balestrino A. Closed loop steering of unicycle like vehicles via Lyapunov techniques. IEEE Robotics and Automation Magazine 1995, 2(1): 27-35[19] Li Dian-Pu. Ship Motion and Modeling (Second Edition). Beijing: National Defense Industry Press, 2008. 11(李殿璞. 船舶运动与建模(第二版). 北京: 国防工业出版社, 2008. 11)[20] Greiner W. Classical Mechanics: Point Particles and Relativity. New York: Springer, 2004. 72-86[21] Papoulias F A. Bifurcation analysis of line of sight vehicle guidance using sliding modes. International Journal of Bifurcaion and Chaos, 1991, 1(4): 849-865[22] Tang Li. Research on the Neural Network Adaptive Control for Autonomous Underwater Vehicle's Horizontal Tracking Problem [Master dissertation], Harbin Engineering University, China, 2009(汤莉. AUV神经网络水平面航迹跟踪控制研究 [硕士学位论文], 哈尔滨工程大学, 中国, 2009)[23] Fossen T I. Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Trondheim: Marine Cybernetics, 2002. 140-152[24] Wichlund K Y, Sordalen O J, Egeland O. Control properties of underactuated vehicles. In: Proceedings of the IEEE International Conference on Robotics and Automation. Nagoya, Japan: IEEE, 1995. 2009-2014[25] Bu R X, Liu Z J, He Q H. Path following of underactuated surface ships with uncertain forward speed. In: Proceedings of the Chinese Control and Decision Conference. Yantai, China: IEEE, 2008. 4053-4058

施引文献

资源附件(0)

访问统计

计量

文章访问数: 2452
HTML全文浏览量: 73
PDF下载量: 1982
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

留言板

基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制

doi: 10.3724/SP.J.1004.2012.00308

通讯作者:
贾鹤鸣, 哈尔滨工程大学自动化学院博士.主要研究方向为非线性系统控制, 无人水下航行器控制技术. E-mail: jiaheminglucky99@126.com

计量

Three-dimensional Path Following Control for an Underactuated UUV Based on Nonlinear Iterative Sliding Mode

计量

目录

留言板

基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制

doi: 10.3724/SP.J.1004.2012.00308

通讯作者: 贾鹤鸣, 哈尔滨工程大学自动化学院博士.主要研究方向为非线性系统控制, 无人水下航行器控制技术. E-mail: jiaheminglucky99@126.com

计量

出版历程

Three-dimensional Path Following Control for an Underactuated UUV Based on Nonlinear Iterative Sliding Mode

计量

出版历程

目录

通讯作者:
贾鹤鸣, 哈尔滨工程大学自动化学院博士.主要研究方向为非线性系统控制, 无人水下航行器控制技术. E-mail: jiaheminglucky99@126.com