ADAPTIVE-CONTROL OF NONLINEAR-SYSTEMS - A CASE-STUDY OF UNDERWATER ROBOTIC SYSTEMS
ADAPTIVE-CONTROL OF NONLINEAR-SYSTEMS - A CASE-STUDY OF UNDERWATER ROBOTIC SYSTEMS
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DOI：
10.1002/rob.4620080307
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发表时间：
1991-06-01
期刊：
影响因子：
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通讯作者：
SAGATUN, SI
中科院分区：
文献类型：
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作者：
FOSSEN, TI;SAGATUN, SI
研究了6自由度水下移动机器人的控制问题。对推进器和操纵面数目超过可控自由度的水下移动机器人进行了详细的研究。与机械手不同，水下移动机器人应包括速度相关的推力器位形矩阵B(Q)，它将标准机械手方程修改为：mq+C(Q)q+g(X)=B(Q)u，其中x=J(X)q。由于未建模的非线性和部分已知的推力器特性，推力器位形矩阵中的不确定性被建模为乘性输入不确定性。本文提出了两种补偿模型不确定性的方法：(1)基于自适应无源性的控制方案；(2)推导出一种混合(自适应和滑模)控制器。该混合控制器将在线估计M、C和g的自适应方案与控制器中增加的切换项相结合，以补偿输入矩阵B中的不确定性。对挪威实验遥控飞行器(NEROV)的水平运动进行了混合控制器的仿真。
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Underwater mobile robots where the number of thrusters and control surfaces exceeds the number of controllable DOF are considered in detail. Unlike robotic manipulators underwater mobile robots should include a velocity dependent thruster configuration matrix B(q), which modifies the standard manipulator equation to: Mq + C(q)q + g(x) = B(q)u where x = J(x)q. Uncertainties in the thruster configuration matrix due to unmodeled nonlinearities and partly known thruster characteristics are modeled as multiplicative input uncertainty. This article proposes two methods to compensate for the model uncertainties: (1) an adaptive passivity-based control scheme and (2) deriving a hybrid (adaptive and sliding) controller. The hybrid controller combines the adaptive scheme where M, C, and g are estimated on-line with a switching term added to the controller to compensate for uncertainties in the input matrix B. Global stability is ensured by applying Barbalat's Lyapunov-like lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV).