A Speed-Gradient Adaptive Control with State/Disturbance Observer for Autonomous Subaquatic Vehicles
A Speed-Gradient Adaptive Control with State/Disturbance Observer for Autonomous Subaquatic Vehicles
复制标题
具有状态/干扰观测器的自主水下航行器的速度梯度自适应控制
DOI：
10.1109/cdc.2006.377169
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
J. Bustamante
中科院分区：
文献类型：
--
作者：
M. Jordan;J. Bustamante
本文提出了一种六自由度全驱动水下机器人非线性自适应控制系统的设计方法。在自适应方法中，定位和运动学跟踪问题被联合处理。除了推力器动力学之外，设计之前不需要关于飞行器动力学和流体动力学的参数的知识。通过非线性速度梯度自适应控制律进行自适应。推力器的动力学被认为是在设计中采用逆动力学技术和状态/扰动观测。证明了整个控制系统的渐近收敛性。选定的数值模拟描绘了所提出的方法的特点
In this paper the design of a nonlinear adaptive control system for fully actuated autonomous underwater vehicles in 6 degrees of freedom is presented. Both the positioning and kinematic tracking-problem are dealt with jointly in the adaptive approach. No knowledge about parameters of the vehicle dynamics and hydrodynamics is required beforehand for the design, except only for the thruster dynamics. The adaptation was carried out through a nonlinear speed-gradient adaptive control law. The dynamics of thrusters is considered in the design employing an inverse-dynamics technique and state/disturbance observation. The proof of the asymptotic convergence of the overall controlled system is shown. Selected numerical simulations depict the features of the proposed approach