基于LPV模型的水面机器人鲁棒航向控制

Robust Heading Control of an Unmanned Surface Vehicle Based on LPV Model

针对水面机器人水动力学的强非线性,且容易受到风、浪与水流干扰的影响,提出了一种基于LPV(Linear Parameter Varying)模型的H_∞鲁棒航向保持控制器。LPV模型采用Froude数作为线性变参,用来反映水面机器人水动力学随Froude数变化的非线性特性,同时简化模型参数辨识与控制器设计。将Froude数作为调度变量,采用介实引理设计了H_∞鲁棒航向保持控制器,用来抑制扰动对控制器的影响。在三自由度欠驱动水面机器人仿真平台上进行了验证,证明了控制器的有效性与鲁棒性。

Aiming at the strong nonlinearities of hydrodynamics,and the influences of wind,wave and current on USVs(Unmanned Surface Vehicles),an H∞robust yaw keeping controller based on LPV(Linear Parameter Varying)model is proposed.The LPV model uses the Froude number as the varying parameter,reflects the USV’s nonlinear hydrodynamics along with the Froude number,and simplifies the parameters identification and controller design.By using the Froude number as the scheduled parameter,an H∞robust yaw keeping controller is designed on the basis of bounded real lemmas to attenuate the disturbances.Simulations on a 3-DOF underactuated USV simulation platform verify the effectiveness and robustness of the proposed controller.