Nonlinear modelling, identification and control of UUVs
Nonlinear modelling, identification and control of UUVs
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DOI：
10.1049/pbce069e_ch2
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Fossen;A. Ross
中科院分区：
文献类型：
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作者：
T. Fossen;A. Ross
本章利用Fossen的结果建立了无人水下航行器(UUV)的运动方程。本章提出的非线性模型主要用于控制系统的设计，并与系统辨识和参数估计相结合。所得到的模型被解耦为纵向和横向运动，以便可以设计速度、深度/潜水和航向控制的自动驾驶仪。使用非线性理论的动机是，一个模型可以覆盖UUV的整个飞行包线，而不是关于多个工作点对模型进行线性化，并在这些工作点之间使用增益调度。此外，根据第一原理，物理模型的性质不会被破坏，这是与线性化对象相关的主要问题。最后，将非线性优化方法作为系统辨识的工具，而比例-积分-减阻(PID)控制和反推则展示了如何设计非线性自动驾驶仪。
This chapter presents the unmanned underwater vehicle (UUV) equations of motion using the results of Fossen. The nonlinear model presented in this chapter is mainly intended for control systems design in combination with system identification and parameter estimation. The resulting model is decoupled into longitudinal and lateral motions such that autopilots for speed, depth/diving and heading control can be designed. The motivation for using nonlinear theory is that one model can cover the whole flight envelope of the UUV, instead of linearising the model about many working points and using gain scheduling between these. In addition, physical model properties in terms of first principles are not destroyed which is a primary problem associated with linearising a plant. Finally, nonlinear optimisation methods are used as a tool for system identification, while proportional-integral-denvative (PID) control and backstepping demonstrate how nonlinear autopilots can be designed.