| 基于轨迹线性化控制方法的全驱动自主式水下航行器轨迹跟踪控制 |
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| 引用本文： | 葛晖,敬忠良,高剑. 基于轨迹线性化控制方法的全驱动自主式水下航行器轨迹跟踪控制[J]. 上海交通大学学报, 2011, 45(2): 184-0189 |
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| 作者姓名： | 葛晖 敬忠良 高剑 |
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| 作者单位： | (1.上海交通大学 航空航天学院， 上海 200040；2.西北工业大学 水下信息与控制国家重点实验室， 西安 710072)
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| 基金项目： | 中国博士后科学基金(20100470119); 国家自然科学基金(50909082)资助项目 |
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| 摘 要： | 基于轨迹线性化控制(Trajectory Linearization Control,TLC)方法研究了全驱动自主式水下航行器（AUV）的轨迹跟踪控制.利用微分方程奇异摄动理论中的时标分离思想，将全驱动AUV的轨迹跟踪控制系统分成快、慢回路，分别基于轨迹线性化思想设计出快、慢回路控制器；利用Lyapunov稳定性理论对闭环控制系统进行了稳定性分析，通过AUV爬升转弯过程的仿真验证了该控制方法的有效性.
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| 关 键 词： | 全驱动 自主式水下航行器 轨迹跟踪控制 轨迹线性化控制 Lyapunov稳定性 |
| 收稿时间： | 2010-07-28 |
Trajectory Tracking of Fully Actuated AUV Based on TLC Method |
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| GE Hui,JING Zhong-liang,GAO Jian. Trajectory Tracking of Fully Actuated AUV Based on TLC Method[J]. Journal of Shanghai Jiaotong University, 2011, 45(2): 184-0189 |
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| Authors: | GE Hui JING Zhong-liang GAO Jian |
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| Affiliation: | (1.School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;2.Key Laboratory of Underwater Information and Control, Northwestern Polytechnical University, Xi’an 710072, China)
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| Abstract: | Trajectory linearization control(TLC) was used to design the trajectory tracking control system for the fully actuated underwater vehicle. The TLC method is a novel and effective control theory for the tracking and decoupling method for nonlinear system which is essentially robust to the outside disturbance and could adjust the bandwidth online. The whole trajectory tracking control system is divided into two loops: fast loop and slow loop based on the time scale separation idea which belongs to the differential equation singular perturbation theory. The TLC controller is designed for the two loops. Lyapunov method is used in the stability analysis. The simulation proves the availability of the TLC controllers. |
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| Keywords: | fully actuated actuated underwater vehicle(AUV) trajectory tracking trajectory linearization control(TLC) Lyapunov stability |
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