Position Tracking Control of Remotely Operated Underwater Vehicles With Communication Delay
Position Tracking Control of Remotely Operated Underwater Vehicles With Communication Delay
复制标题
通信时延遥控水下航行器位置跟踪控制
DOI：
10.1109/tcst.2019.2928488
复制
发表时间：
2020-11
影响因子：
4.8
通讯作者：
Xinping Guan
中科院分区：
文献类型：
--
作者：
Jing Yan;Jin Gao;Xian Yang;Xiaoyuan Luo;Xinping Guan
许多海洋任务需要单个遥控水下航行器（ROV）或多个ROV来实现位置跟踪。然而，水中时变的通信延迟使得实现跟踪任务具有挑战性。本文研究了单车辆跟踪和多车辆跟踪问题。考虑时变通信时延，设计了两种无模型的比例微分（PD）跟踪控制器。对于所提出的控制器，构造Lyapunov-Krasovskii函数来分析稳定性，然后给出渐近稳定的充分条件。特别地，利用线性矩阵不等式（LMI）建立了控制器增益与时滞之间的关系，从而可以计算时滞的允许上界。最后通过仿真和实验验证了该方法的有效性。
Many marine missions demand a single remotely operated underwater vehicle (ROV) or multiple ROVs to achieve position tracking. However, the time-varying communication delay in water makes it challenging to achieve the tracking task. This paper is concerned with single-vehicle tracking and multi-vehicle tracking problems. With the consideration of time-varying communication delay, two model-free proportional-derivative (PD) tracking controllers are designed. For the proposed controllers, Lyapunov–Krasovskii functions are constructed to analyze the stability, and then sufficient conditions for asymptotic stability are presented. In particular, the relationship between controller gains and time delay is established by using linear matrix inequality (LMI), such that the allowable upper bound of time delay can be calculated. Finally, simulation and experiment results are performed to validate the effectiveness.
登录
查看更多内容
DOI：
10.23919/acc.2017.7963061
发表时间：
2017-05
期刊：
2017 American Control Conference (ACC)
影响因子：
--
作者：
Mingjun Zhang;Xing Liu;Feng Yao;Zeyu Chen
通讯作者：
Mingjun Zhang;Xing Liu;Feng Yao;Zeyu Chen
影响因子：
4.8
作者：
P. Millán;L. Orihuela;I. Jurado;F. Rubio
通讯作者：
P. Millán;L. Orihuela;I. Jurado;F. Rubio
影响因子：
4.8
作者：
R. Rout;B. Subudhi
通讯作者：
R. Rout;B. Subudhi
DOI：
--
发表时间：
2016
期刊：
--
影响因子：
--
作者：
J. Fuhrmann
通讯作者：
J. Fuhrmann
影响因子：
5
作者：
Soylu, Serdar;Proctor, Alison A.;Buckham, Bradley J.
通讯作者：
Buckham, Bradley J.