混合驱动水下机器人浮游与爬行双模式轨迹跟踪控制

Trajectory Tracking Control for Hybrid-driven Unmanned Underwater Vehicles with Free-flying and Crawling Dual-mode

针对混合驱动水下机器人在进行水下浮游和爬行双模式作业时的轨迹跟踪控制问题,结合混合驱动水下机器人在浮游模式和爬行模式下的不同运动学特性,分别设计了一种基于改进灰狼优化模型预测控制算法的控制器,以实现机器人在浮游模式下的轨迹跟踪,以及一种基于模糊滑模控制算法的控制器,以实现机器人在爬行模式下的轨迹跟踪。仿真结果表明:所设计的改进灰狼优化模型预测控制器通过引入改进灰狼优化算法求解模型预测控制器滚动优化阶段中的目标函数,使得浮游模式的水下机器人能够快速、精确和稳定地跟踪预设轨迹;所设计的模糊滑模控制器采用模糊控制对滑模控制器中趋近律参数进行在线调整,使得爬行模式下的水下机器人能够实现有限时间收敛的同时并抑制抖振问题。

The trajectory tracking control of hybrid-driven unmanned underwater vehicles in underwater dual-mode operation is studied.In accordance with the different kinematics characteristics of hybrid-driven unmanned underwater vehicle in free-flying and crawling modes,a controller based on improved grey wolf optimization model predictive control algorithm is designed to realize the trajectory tracking of the vehicles in free-flying mode,and a controller based on fuzzy sliding mode control algorithm is designed to realize the trajectory tracking of the vehicles in crawling mode.The simulated results show that the designed improved grey wolf optimization model predictive controller solves the objective function in the rolling optimization stage of the model predictive controller by introducing the improved grey wolf optimization algorithm,enabling the unmanned underwater vehicles in free-flying mode to quickly,accurately and stably track the preset trajectory.The designed fuzzy sliding mode controller adopts fuzzy control to adjust the convergence law parameters online in the sliding mode controller,enabling the unmanned underwater vehicles in crawling mode to achieve finite time convergence while suppressing chattering.