Nonlinear output feedback controller design for tracking control of ODIN in wave disturbance condition
Nonlinear output feedback controller design for tracking control of ODIN in wave disturbance condition
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DOI：
10.1109/oceans.2005.1640019
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发表时间：
2005-09
期刊：
影响因子：
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通讯作者：
Shuyong Liu;Danwei W. Wang;E. Poh;C. S. Chia
中科院分区：
文献类型：
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作者：
Shuyong Liu;Danwei W. Wang;E. Poh;C. S. Chia
针对浅水区域球形自主水下航行器（AUV）全方位智能导航仪（ODIN）的跟踪控制问题，设计了一种非线性控制器。当水下机器人在浅水环境中工作时，波浪运动会对水下机器人的位置和航向产生较大的扰动。获得波浪信息或波浪引起的扰动信息的知识以减少控制器对该波浪运动的反应是至关重要的。本文设计了一种观测器，仅用航向和位置测量就能估计浅水波运动、低频运动和偏差干扰。一个非线性输出反馈控制器的基础上开发的观测器使用观测器反推技术。利用李雅普诺夫稳定性理论证明了整个观测器和控制器系统的全局指数稳定性。一组仿真进行了测试所提出的观测器和控制器的跟踪控制ODIN的性能
This paper presents the design of a nonlinear controller for tracking control of a spherical autonomous underwater vehicle (AUV), named as Omni-Directional Intelligent Navigator (ODIN) operating in shallow water area. When the AUV operates in shallow water environment, significant disturbance due to the wave motion will be introduced into the position and heading of the marine vehicles. It is critical to obtain the knowledge of the wave information or the wave induced disturbance information to reduce the reaction of the controller to this wave motion. In this paper, an observer is designed to estimate the shallow water wave motion, the low frequency motion and bias disturbance by using only the position and heading measurement. A nonlinear output feedback controller is derived based on the developed observer using the observer backstepping technique. The globally exponentially stability (GES) of the whole observer and controller system is proved be Lyapunov stability theory. A set of simulations is carried out to test the performance of the proposed observer and controller for tracking control of ODIN