A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cas...A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cascade form.The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach.For the stabilization of the subsystem involving the yaw moment,a control law is proposed based on the feedback linearization method.Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions.In order to demonstrate the practicability of the proposed controller,control constraints,parameter uncertainties,and external disturbances are considered according to practical situation of AUVs.Simulation results show very good tracking performance and robustness of the proposed control schemes.展开更多
Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as pl...Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.10802026)
文摘A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cascade form.The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach.For the stabilization of the subsystem involving the yaw moment,a control law is proposed based on the feedback linearization method.Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions.In order to demonstrate the practicability of the proposed controller,control constraints,parameter uncertainties,and external disturbances are considered according to practical situation of AUVs.Simulation results show very good tracking performance and robustness of the proposed control schemes.
基金Projects(51179035,51279221) supported by the National Natural Science Foundation of ChinaProject(2014M561333) supported by Postdoctoral Science Foundation of China
文摘Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.
