Modeling and motion control strategy for autonomous underwater vehicles
Modeling and motion control strategy for autonomous underwater vehicles
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DOI：
10.1109/icma.2009.5246392
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发表时间：
2009-09
期刊：
影响因子：
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通讯作者：
F. Wang;Ye Li;Lei Wan;Yuru Xu
中科院分区：
文献类型：
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作者：
F. Wang;Ye Li;Lei Wan;Yuru Xu
针对自主水下航行器（AUV）的不同作业任务，设计了一种位置和速度控制相结合的运动控制策略。为了提供一种适用于仿真和控制目的的形式，基于六自由度非线性运动方程推导了水下机器人的通用数学模型。提出了一种基于电容板模型的改进型S面控制器，并通过自适应的方式对该控制器进行了优化，以补偿位置控制中的恒定环境力。利用李雅普诺夫函数证明了速度控制律的稳定性。仿真结果表明，自适应控制能有效地减小稳态误差，实现精确的位置保持，该数学模型可为水下机器人的仿真提供有效的测试工具。
A motion control strategy consisting of both position and speed control was designed for different work assignments of Autonomous Underwater Vehicles (AUV). To provide a form that will be suitable for simulation and control purposes, a general mathematical model of underwater vehicles was derived based on the six degrees of freedom nonlinear equations of motion. An improved S-surface controller based on capacitor plate model was introduced and optimized by a self-adapting manner to compensate the constant environmental forces for position control. The stability of speed control law was demonstrated by Lyapunov function. The simulation results show that the self-adaption can effectively diminish the steady state error for the accurate position-keeping, and the proposed mathematical model can provide an efficient test tool for the simulation of underwater vehicles.