[1]周焕银,李一平,刘开周,等.基于AUV垂直面运动控制的状态增减多模型切换[J].哈尔滨工程大学学报,2017,38(08):1309-1315.[doi:10.3969/j.issn.1006-7043.201607021]
 ZHOU Huanyin,LI Yiping,LIU Kaizhou,et al.Multi-model switching control laws for the vertical plane control of an autonomous underwater vehicle[J].hebgcdxxb,2017,38(08):1309-1315.[doi:10.3969/j.issn.1006-7043.201607021]
点击复制

基于AUV垂直面运动控制的状态增减多模型切换(/HTML)
分享到:

《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
38
期数:
2017年08期
页码:
1309-1315
栏目:
出版日期:
2017-08-25

文章信息/Info

Title:
Multi-model switching control laws for the vertical plane control of an autonomous underwater vehicle
作者:
周焕银12 李一平2 刘开周2 封锡盛2
1. 东华理工大学 机械与电子工程学院, 江西 南昌 330013;
2. 中国科学院沈阳自动化研究所 机器人学国家重点实验室, 辽宁 沈阳 110016
Author(s):
ZHOU Huanyin12 LI Yiping2 LIU Kaizhou2 FENG Xisheng2
1. School of Mechanical and Electronic Engineering, East China University of Technology, Nanchang 330013, China;
2. State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
关键词:
自主水下机器人加权多模型切换控制共同Lyapunov函数垂直面控制模型纵倾角控制模型切换系统
分类号:
TP273
DOI:
10.3969/j.issn.1006-7043.201607021
文献标志码:
A
摘要:
自主水下机器人(autonomous underwater vehicle,AUV)系统垂直面运动具有强耦合性、非线性等特点导致AUV系统垂直面难以精确控制,且其纵倾角需控制在某一阈值内,以保证系统安全。根据以上控制要求与AUV垂直面运动模型特点,提出将其解耦为深度控制子模型与纵倾角控制子模型,构建AUV系统垂直面运动控制模型集,根据模型集所含两子模型特点,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据——共同Lyapunov函数法,提出了变加权多模型切换策略,实现了切换过程的稳定性,避免了切换过程的抖动问题。多次湖泊试验证明,加权多模型切换策略避免了由于期望深度变化而造成的执行机构饱和、深度和纵倾角超调量过大等问题,且改善了AUV系统深度运动的静动态控制品质。

参考文献/References:

[1] 封锡盛,李一平,徐红丽. 下一代海洋机器人-写在人类创造下潜深度世界纪录10912米50周年之际[J]. 机器人, 2011, 33(1):113-118.FENG Xisheng, LI Yiping, XU Hongli. The next generation unmanned marine vehicles dedicated to the 50 anniversary of the human world record diving 10912 m[J]. Robot, 2011, 33(1):113-118.
[2] 徐玉如,李彭超. 水下机器人发展趋势[J]. 自然杂志, 2011, 33(3):125-133.XU Yuru, LI Pengchao. Developing tendency of unmanned underwater vehicles[J]. Chinese journal of nature, 2011, 33(3):125-133.
[3] 周焕银,刘开周,封锡盛. 基于权值范围设置的多模型稳定切换控制研究[J]. 控制与决策, 2012, 27(3):349-354.ZHOU Huanyin, LIU Kaizhou, FENG Xisheng. Stability switching of multiple models based on weighting setting[J]. Control and decision, 2012, 27(3):349-354.
[4] AGUIAR A P, PASCOAL A M. Regulation of a nonholonomic autonomous underwater vehicle with parametric mod-eling uncertainty using Lyapunov functions[C]//Proceedings of the IEEE Conference on Decision and Control. Orlando, 2001:4178-4183.
[5] AGUIAR A P, PASCOAL A M. Global stabilization of an underactuated autonomous underwater vehicle via logic-based switching[C]//Proceedings of the IEEE Conference on Decision and Control. Las Vegas, 2002:3267-3272.
[6] CAVALLETTI M, IPPOLITI G, LONGHI S. Lyapunov-based switching control using neural networks for a remotely operated vehicle[J]. International journal of control, 2007, 80(7):1077-1091.
[7] 林孝工,谢业海,赵大威,等.基于海况分级的船舶动力定位切换控制[J].中国造船,2012, 53(3):165-174.LIN Xiaogong, XIE Yehai, ZHAO Dawei, et al. Switching control for dynamic positioning vessels based on sea states classificaiton[J]. Shipbuilding of China, 2012, 53(3):165-174.
[8] 周焕银, 封锡盛, 胡志强, 等. 基于多辨识模型优化切换的USV系统航向动态反馈控制[J]. 机器人, 2013, 35(5):552-558.ZHOU Huanyin, FENG Xisheng, HU Zhiqiang, et al. Dynamic feedback controller based on optimized switching of multipleidentification models for course control of unmanned underwater vehicle[J]. Robot, 2013, 35(5):552-558.
[9] HAMMOUD S, MOHAMED D. Ship motion control using multi-controller structure[J]. Ocean engineering, 2012, 55:184-190.
[10] NGUYEN T D, SORENSEN A J, QUEK S T. Design of hybrid controller for dynamic positioning from calm to extreme sea conditions[J]. Automatica, 2007, 43(5):768-785.
[11] XIA Chiyun. Optimal control of switched systems with dimension-varying state spaces[D]. Los Angeles:University of California, 2007.
[12] BALDI S, BATTISTELLI G, MARI D,et al. Multi-model unfalsified switching control of uncertain multivariable systems[J]. International journal of adaptive control and signal processing., 2012, 26(8) SI:705-722.
[13] WANG P K C, HADAEGH F Y. Stability analysis of switched dynamical systems with state-space dilation and contraction[J]. Journal of guidance, control, and dynamics, 2008, 31(2):395-401.
[14] 蒋新松, 封锡盛, 王棣棠. 水下机器人[M]. 沈阳:辽宁科学技术出版社, 2000:150-183.JIANG Xinsong, FENG Xisheng, WANG Ditang. Underwater vehicles[M]. Shenyang:Liaoning Publisher Science and Technology, 2000:150-183.
[15] LIBERZON D. Switching in systems and control[M]. Boston:Birkhauser, 2003.
[16] 刘豹. 现代控制理论[M].3版.北京:机械工业出版社, 2006:188-200.

备注/Memo

备注/Memo:
收稿日期:2016-07-08。
基金项目:国家自然科学基金项目(51409047);机器人学国家重点实验室开放基金项目(2016-O05).
作者简介:周焕银(1975-),女,副教授;封锡盛(1941-),男,研究员,博士生导师,中国工程院院士.
通讯作者:周焕银,E-mail:hyzou@ecit.cn
更新日期/Last Update: 2017-08-28