Adaptive DOB control of underwater robotic vehicles
Adaptive DOB control of underwater robotic vehicles
复制标题
水下机器人航行器的自适应DOB控制
DOI：
10.1109/oceans.2001.968758
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
H. Choi
中科院分区：
文献类型：
--
作者：
S. Zhao;J. Yuh;H. Choi
介绍了一种新型的水下机器人导航控制系统。与ROV的控制器不同，AUV需要智能控制器来适应系统和环境的变化，因为AUV在水中时无法调整控制器。该控制器由基于非回归量的自适应控制器和扰动观测器组成。DOB将具有建模误差和干扰的原始非线性车辆动力学转换为简单的线性标称模型，并且自适应控制器补偿由于DOB滤波器中的任何时间延迟而引起的残余干扰误差。所提出的控制系统不需要任何有关车辆动力学的参数信息，并提供相对于干扰，如电流，建模误差和流体动力学的不确定性的鲁棒性。对UH AUV ODIN模型的仿真结果表明了该控制系统的有效性。
This paper describes a new navigation control system for AUVs. Unlike controllers for ROVs, AUVs require smart controllers adapting to changes in the system and environment since the controller cannot be tuned while AUV are in water. The presented controller consists of a nonregressor based adaptive controller and a disturbance observer (DOB). The DOB converts the original nonlinear vehicle dynamics with modelling errors and disturbance into a simple linear nominal model and the adaptive controller compensates for the residual disturbance errors due to any time delay in the DOB filter. The presented control system does not require any parametric information about the vehicle dynamics and provides robustness with respect to disturbance, such as current, modeling errors and hydrodynamic uncertainties. Results of simulation on a UH AUV, ODIN model show effectiveness of the presented control system.