| 鱼雷形水下机器人非线性航迹跟踪控制
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| 引用本文： | 苏玉民,曹建,徐锋,张国成.鱼雷形水下机器人非线性航迹跟踪控制
[J].上海交通大学学报,2012,46(6):977-983. |
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| 作者姓名： | 苏玉民 曹建 徐锋 张国成 |
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| 作者单位： | （1. 哈尔滨工程大学 水下机器人技术重点实验室， 哈尔滨 150001； 2. 上海交通大学 船舶海洋与建筑工程学院， 上海 200240） |
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| 基金项目： | 国家自然科学基金资助项目(51009040) |
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| 摘 要： | 研究了欠驱动自主式水下机器人路径跟踪问题.在Serret Frenet移动坐标系下，基于虚拟目标机器人建立了路径跟踪误差动力学方程.在此基础上，结合水下机器人动力学方程，设计了基于Lyapunov稳定性理论和反步法技术的控制器.仿真结果表明，提出的非线性反馈控制律能够保证路径跟踪误差快速收敛到零，使机器人沿着参考路径航行.
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| 关 键 词： | 非线性控制 路径跟踪 欠驱动系统 自主水下机器人 Serret Frenet坐标系 |
Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles |
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| SU Yu-min,CAO Jian,XU Feng,ZHANG Guo-cheng.Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles[J].Journal of Shanghai Jiaotong University,2012,46(6):977-983. |
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| Authors: | SU Yu-min CAO Jian XU Feng ZHANG Guo-cheng |
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| Institution: | (1. State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China; 2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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| Abstract: | This paper researches on the problem of path-following control of underactuated autonomous underwater vehicles (AUV). In Serret Frenet frame, a path following error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle’s dynamics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was developed. The resulting nonlinear feedback control law yields convergence of the path-following error trajectory to zero. The simulation results illustrate the performance of the control system proposed. |
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| Keywords: | nonlinear control path-following underactuated vehicles autonomous underwater vehicles Serret-Frene frame |
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