期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

基于动态面和L_2干扰抑制的AUV三维航迹跟踪控制

Three-dimensional trajectory tracking control for an AUV based on DSC and L_2 disturbance attenuation method
原文传递
导出
摘要 为实现外界干扰作用下水下机器人(AUV)的三维航迹跟踪控制,提出基于动态面和L2干扰抑制的控制方法.该方法基于李雅普诺夫稳定性分析理论,对严格反馈系统中的非线性系统进行控制设计,采用动态面控制方法有效避免了用后推方法产生的"计算爆炸"问题,并用L2干扰抑制控制器将外界干扰予以抑制.针对某水下机器人模型,利用Matlab进行数值仿真,结果表明,该控制器对外界干扰有较好的抑制作用,可以实现水下机器人三维航迹的精确跟踪控制. To realize the three-dimensional trajectory tracking control for an autonomous underwater vehicle（AUV） under the conditions of external interference,this paper proposed an approach based on dynamic surface control（DSC） and L2 disturbance attenuation.The control design was made for a class of nonlinear systems in strict-feedback form by using the DSC method based on Lyapunov stability theory.The dynamic surface control method was used so as to avoid the problem of ＂explosion of complexity＂ effectively by using the traditional backstepping method,and the external disturbance was suppressed by using the L2 disturbance attenuation controller.A numerical simulation was carried out for an AUV by utilizing Matlab,and results show that the designed controller suppresses the influence of external disturbance well,which can achieve three-dimensional trajectory tracking control performance effectively.
作者 苗保彬 李铁山 罗伟林
机构地区 大连海事大学航海学院 福州大学机械工程及自动化学院
出处 《大连海事大学学报》 CAS CSCD 北大核心 2012年第3期5-8,共4页 Journal of Dalian Maritime University
基金 国家自然科学基金资助项目(51079031 51179019) 辽宁省自然科学基金资助项目(20102012) 福建省自然科学基金资助项目(2010J01004)
关键词 水下机器人 三维航迹跟踪 动态面控制 L2干扰抑制 autonomous underwater vehicle three-dimensional trajectory tracking dynamic surface control L2 disturbance attenuation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TP183 [自动化与计算机技术—控制理论与控制工程]
  • 相关文献

参考文献10

  • 1ALONGE F. Trajectory tracking of underactuated under- water vehicles[C] //Proceedings of the 40th IEEE Confer- ence on Decision and Control. Orlan do , Florida, USA: IEEE,2001,5:4421 - 4426.
  • 2LEWIS F L, LIU K, YESILD1REK A. Neural net robot controller with guaranteed tracking performance[J].IEEE 9 Trans on Neural Networks, 1995,6(3):703- 715.
  • 3JAGANNATHAN S, GALAN G. One-layer neural net- work controller with preprocessed inputs for autonomous underwater vehicle[J ]. IEEE Trans on Vehicular Technol- ogy, 2003,52(5) :1342 - 1354.
  • 4KULJACA O. Intelligent neural and fuzzy logic control of industrial and power systems[D]. Arlington, USA: Uni- versity of Texas, 2003.
  • 5俞建成,李强,张艾群,王晓辉.水下机器人的神经网络自适应控制[J].控制理论与应用,2008,25(1):9-13. 被引量：43
  • 6KIM M, INMAN D J. Direct adaptive control of underwa- ter vehicles using neural networks[J].J of Vibration and Control, 2003, 9(5) :605 - 619.
  • 7WANG D, HUANG J. Neural network based adaptive dy- namic surface control for a class of uncertain nonlinear sys- tems in strict-feedback form [J]. IEEE Transactions on Neural Networks, 2005,16( 1 ) : 195 - 202.
  • 8LI Tie-shan, WANG Dan, TONG Shao-chen. A DSC ap- proach to robust adaptive NN tracking control for strict- feedback nonlinear systems[J]. 1EEE Transactions on Sys- tems, Man, and Cybernetics--Part B: Cybernetics, 2010, 40(3) :915 -927.
  • 9罗伟林,邹早建.Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles[J].China Ocean Engineering,2007,21(2):281-292. 被引量：7
  • 10FOSSEN T I. Marine Control Systems:Guidance, Navi gation, and Control of Ships, Rigs and Underwater Vehi cles [ M ]. Trondheim, Norway: Marine Cybernetics 2002.

二级参考文献11

  • 1董聪,郦正能,夏人伟,何庆芝.多层前向网络研究进展及若干问题[J].力学进展,1995,25(2):186-196. 被引量：47
  • 2VAN de VEN P, FLANGAN C, TOAL D. Neural network control of underwater vehicles [J]. Engineering Applications of A rtificial Intelligence, 2005, 18(5): 533- 547.
  • 3YUH J. A neural net controller for underwater robotic vehicles[J]. IEEE J of Oceanic Engineering, 1990, 15(3): 161 - 166.
  • 4LORENTZ J, YUH J. A survey and experimental study of neural network AUV control[C]//Proc of the Symposium on Autonomous Underwater Vehicle Technology. Monterey, CA, USA: [s.n.], 1996:109 -116.
  • 5FUJII T, URA T. SONCS: Self-organizing neural-net-controller system for autonomous underwater robots[C]//Proc of IEEE lnt Joint Confon Neural Networks. Singapore: [s.n.], 1991: 1973- 1982.
  • 6ISHII K, FUJII T, URA T. An on-line adaptation method in a neural network based control system for AUV's[J]. IEEE J of Oceanic Engineering, 1995, 20(3): 221 - 228.
  • 7LEWIS F L, LIU K, YESILDIREK A. Neural net robot controller with guaranteed tracking performance[J]. IEEE Trans on Neural Networks, 1995, 6(3): 703 - 715.
  • 8KIM M, INMAN D J. Direct adaptive control of underwater vehicles using neural networks[J]. J of Vibration and Control, 2003, 9(5): 605 -619.
  • 9JAGANNATHAN S, GALAN G. One-layer neural-network controller with preprocessed inputs for autonomous underwater vehicles[J]. IEEE Trans on Vehiculartechnology, 2003, 52(5): 1342 - 1354.
  • 10KULJACA O. Intelligent neural network and fuzzy logic control of industrial andpower systems[D]. Arlington, USA: University of Texas, 2003.

共引文献48

大连海事大学学报
2012年 第3期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部