Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents
Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents
复制标题
存在洋流时欠驱动 AUV 的点稳定
DOI：
10.5772/61037
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发表时间：
2015-07
影响因子：
2.3
通讯作者：
Yueming Li
中科院分区：
文献类型：
--
作者：
Zaopeng Dong;Lei Wan;Yueming Li
针对欠驱动自治水下机器人（AUV）在常值和无旋海流扰动下的点镇定（或设定点调节）控制问题，提出了一种基于状态反馈的Backstepping控制算法。针对前后不对称的水下机器人，建立了水平面内三自由度非线性动力学模型。本文首先讨论了欠驱动水下机器人在海流扰动下实现精确点镇定控制的必要条件--期望航向角与海流方向角之间的关系表达式。所提出的反推控制法的点镇定已进一步丰富，将一个额外的积分行动，以提高AUV控制系统的稳态性能，而实际的渐近稳定性分析系统进行使用李雅普诺夫理论和Barbalat引理。欠驱动AUV的仿真实验验证了所提出的理论和控制器的有效性。
This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation) control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of constant and irrotational ocean current disturbance. A nonlinear three degree of freedom dynamic model in the horizontal plane for an AUV without symmetry fore/aft is considered. The expression of the relationship between the desired heading angle of the AUV and direction angle of the ocean current, which is a necessary condition for precise point stabilization control of an underactuated AUV in the presence of ocean current disturbance is firstly discussed in this paper. The proposed backstepping control law for point stabilization has further been enriched by incorporating an additional integral action for enhancing the steady state performance of the AUV control system, while practical asymptotic stability analysis of the system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments of an underactuated AUV verify the theorem proposed and demonstrate the effectiveness of the controller.
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DOI：
10.1109/acc.2014.6858984
发表时间：
2014-06
期刊：
2014 American Control Conference
影响因子：
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作者：
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影响因子：
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影响因子：
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影响因子：
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DOI：
10.1109/acc.2003.1243367
发表时间：
2003-06
期刊：
Proceedings of the 2003 American Control Conference, 2003.
影响因子：
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作者：
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