水下自主作业系统轨迹跟踪与动力定位

Trajectory Tracking and Dynamic Positioning of Autonomous Underwater Vehicle-Manipulator System

论述了一种水下自主作业系统的轨迹跟踪和动力定位控制算法。该系统由一个水下智能机器人和一个机械手组成,具有非线性、强耦合、高维数、时变等特点。在充分考虑了各种水动力因素的基础上,使用Quasi-Lagrange方程建立系统的动力学数学模型。采用滑模控制方法,并利用模糊逻辑动态调节滑膜控制器的增益系数,进行了计算机仿真试验。结果表明该方法对水下自主作业系统的轨迹跟踪与动力定位控制性能优良。

In this paper, a control scheme is presented for the trajectory tracking and dynamic positioning of the autonomous underwater vehicle-manipulator system （AUVMS）. The system is composed of an autonomous underwater vehicle（AUV） and a robot manipulator mounted on the vehicle. The character of the AUVMS is coupled, nonlinear, multi-dimension, time-varying, and so on. Quasi-Lagrange formulation is used to gain the model of AUVMS including the major hydrodynamic effects. A sliding mode controller is designed to implement the control, and the gains of the controller are tuned by the fuzzy logic to avoid the significant high frequency chattering. The advantage of the sliding mode control is easy to implement. In the end of this paper, computer simulation is performed, and the efficacy of the control scheme is verified