摘要
许多应用场合要求水下自主航行器(AUV)与水下移动平台对接来实现能源补充和信息交换功能。针对欠驱动AUV与移动平台的水下对接问题,采用主从式同步跟踪策略,提出AUV接收目标的状态信息并控制自身位置与目标保持一致的控制方法,从而将AUV水下对接的问题转化为AUV与移动目标保持同步运动的问题。在给出移动目标和AUV的水平面线性化动力学模型基础上,设计了在常值海流影响下,欠驱动AUV同步跟踪由卡尔曼算法估计的目标运动轨迹的滑模控制器。使用Lyapunov稳定性理论证明了离散滑模控制器的稳定性,并使用仿真实验验证该控制方案的有效性。
The technology of AUV docking with underwater mobile platform is required for recharging and information exchanging in many applications. A control method that the AUV（ slave system） takes over the updated state information of the host-vessel（ master system） and synchronizes its position with the host-vessel is proposed based on the idea of states synchronization of master-slave systems,such that the recovery of the AUV by the host-vessel can be equivalently studied in synchronization of both the motional states. A sliding mode controller for manipulating the AUV to track the estimated state of the host-vessel in synchronization is designed based on the linearized dynamical models of both the host-vessel and AUV,where the disturbance of constant ocean current is considered. Lyapunov stability theorem is used to prove the stability of the proposed controller,Numerical simulation is also presented to illustrate the effectiveness of the controller.
出处
《舰船科学技术》
北大核心
2015年第11期95-99,共5页
Ship Science and Technology
关键词
欠驱动型水下自主航行器
移动平台
水下对接
主从式同步
滑模控制器
underactuated autonomous underwater vehicle
mobile platform
underwater recovery
master-slave synchronization
sliding mode control
