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水下无人航行器水平面路径跟踪控制方法研究 被引量：5

Planar Path Following Control design for UUV
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摘要 针对水下无人航行器(Unmanned Underwater Vehicle,UUV)运动控制具有非线性和强耦合特点,设计了基于SDRE(State-Dependent-Riccati Equation)方法的UUV水平面路径跟踪控制器,通过将非线性动力学方程伪线性化,解代数黎卡提方程得到控制律;针对以往SDRE权系数矩阵选择使用手工调试,过程复杂且很难得到最优解的问题,引入粒子群寻优算法,将改进后的粒子群算法用于SDRE权系数矩阵的寻优,从而得到优化后的控制器参数;对所设计的控制系统进行了仿真验证,结果显示UUV可以很好地跟踪上期望轨迹。 An efficient approach based on SDRE （State--Dependent--Riccati Equation） for the UUV trajectory tracking is proposed. The methodology adopted for controller design is nonlinear control and strong coupling. Through the pseudo-- linearization of dynamic equa- tions, and calculation of Algebraic Riceati equation , the control law is obtained. To solve the problem that optimum weight coefficient matrixfor SDRE is difficult to obtain, an improved particle swarm algorithm is applied. Numerical simulations are provided to illustrate the effec- tiveness of the proposed methodology for path following of UUV.
作者 严浙平 张彦超 高鹏 徐健
机构地区 哈尔滨工程大学自动化学院
出处 《计算机测量与控制》 CSCD 北大核心 2011年第12期2985-2988,共4页 Computer Measurement &Control
基金 国家自然科学基金项目(51179038/E091002)
关键词 UUV SDRE 粒子群 路径跟踪 UUV SDRE PSO path following
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置] U661.33 [交通运输工程—船舶及航道工程]
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参考文献9

  • 1Aguiar A P, Hespanha J P. Logic-based switching control for trajectory-tracking and path-following of underactuatedautonomous vehicles with parametric modeling uncertainty [A]. Proc. of the 2004 Amer. Contr. Conf [C]. Boston, MA, USA, June 2004.
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二级参考文献8

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计算机测量与控制
2011年 第12期

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