基于有限时间系统同步的自治水下航行器回收控制

吴泽伟; 吴晓锋

doi:10.3724/SP.J.1004.2013.02164

基于有限时间系统同步的自治水下航行器回收控制

doi: 10.3724/SP.J.1004.2013.02164

吴泽伟¹,
吴晓锋^1,2

1.
海军工程大学电子工程学院武汉 430033;
2.
海军陆战学院广州 510430

基金项目:

国家自然科学基金（61074012，11202239）资助

详细信息

作者简介:
吴泽伟海军工程大学电子工程学院博士研究生. 主要研究方向为复杂系统控制与同步. 本文通信作者. E-mail：wuzw1982@hotmail.com

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- 文章访问数: 1572
- HTML全文浏览量: 53
- PDF下载量: 1196
- 被引次数: 0
出版历程
- 收稿日期: 2012-10-22
- 修回日期: 2013-04-02
- 刊出日期: 2013-12-20

Recovery Control for Autonomous Underwater Vehicle Based on Finite-time Synchronization of Systems

WU Ze-Wei¹,
WU Xiao-Feng^1,2

1.
College of Electronic Engineering, Naval University of Engineering, Wuhan 430033;
2.
Naval Marine Academy, Guangzhou 510430

Funds:

Supported by National Natural Science Foundation of China (61074012, 11202239)

摘要

摘要: 基于主-从系统状态同步的思想，提出了母艇在平面运动中回收自治水下航行器（Autonomous underwater vehicle，AUV）的一种控制方法. 在给出母艇和自治水下航行器的动力学模型基础上，建立了自治水下航行器（从系统）接收母艇（主系统）的状态信息并控制自身接近母艇的主从控制方案，使母艇自主回收水下航行器的问题转化为两者的运动状态同步问题. 利用有限时间稳定性理论，设计了一种在常值海流扰动影响下，自治水下航行器能够在有限时间内被母艇回收的滑模控制器，理论证明和仿真实例证实了该控制器的有效性.
- 自治水下航行器 /
- 回收技术 /
- 有限时间同步 /
- 滑模控制
Abstract: A control method for plane-motional host-vessel recovering an autonomous underwater vehicle is proposed based on the idea of states synchronization of master-slave systems. First, the dynamical models of both the host-vessel and the autonomous underwater vehicle are mathematically given, then a master-slave control scheme, in which the autonomous underwater vehicle (slave system) takes over the updated state information of the host-vessel (master system) and manipulates itself to approach to the host-vessel, is established such that the recovery of the autonomous underwater vehicle by the host-vessel can be equivalently studied in synchronization of both the motional states. By means of finite-time stability theory, a sliding mode controller for recovery of the autonomous underwater vehicle by the host-vessel in finite time is designed, where the disturbance of constant ocean current is considered. The validity of the designed controller is verified by means of theoretical proof and numerical simulation.
- Autonomous underwater vehicle (AUV) /
- technique of recovery /
- finite-time synchronization /
- sliding mode control

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参考文献(14)

[1]	Xiang X B, Jouvencel B, Parodi O. Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection. International Journal of Advanced Robotic Systems, 2010, 7(1): 75-84
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基于有限时间系统同步的自治水下航行器回收控制

doi: 10.3724/SP.J.1004.2013.02164

作者简介:
吴泽伟海军工程大学电子工程学院博士研究生. 主要研究方向为复杂系统控制与同步. 本文通信作者. E-mail：wuzw1982@hotmail.com

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Recovery Control for Autonomous Underwater Vehicle Based on Finite-time Synchronization of Systems

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基于有限时间系统同步的自治水下航行器回收控制

doi: 10.3724/SP.J.1004.2013.02164

作者简介: 吴泽伟 海军工程大学电子工程学院博士研究生. 主要研究方向为复杂系统控制与同步. 本文通信作者. E-mail：wuzw1982@hotmail.com

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出版历程

Recovery Control for Autonomous Underwater Vehicle Based on Finite-time Synchronization of Systems

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出版历程

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作者简介:
吴泽伟海军工程大学电子工程学院博士研究生. 主要研究方向为复杂系统控制与同步. 本文通信作者. E-mail：wuzw1982@hotmail.com