Physics-Based Finite-Dimensional Modeling and Adaptive Control of Underwater Vehicles

基于物理的水下航行器有限维建模和自适应控制

• 批准号: 0100783
• 负责人: Louis Whitcomb
• 金额: $ 17.95万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-09-01 至 2005-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0100783&HistoricalAwards=false
• 关键词: Physics; Based; Finite; Dimensional; Modeling

This research program will develop finite-dimensional nonlinear dynamical models for underwater robot vehicles, and incorporate these models in the development of provably stable nonlinear controllers for dynamic maneuvering of underwater vehicles. This research will directly address the following two problems:1. Nonlinear Finite Dimensional Dynamical Modeling: We are developing unsteady dissipative hydrodynamical models and numerical simulations for marine vehicles, and experimentally verifying these analytical models under the low-speed operating conditions typical for dynamically positioned vehicles engaged in survey, sampling, docking, and maneuvering operations.2. Stable Model-Based Nonlinear Adaptive Control: We are developing 6-DOF model-based adaptive tracking controllers, and experimentally evaluating both the new and previously reported techniques in full-scale experimental trials. The goal is to enable marine vehicles to perform missions presently considered either infeasible or impractical with existing manned and unmanned systems. The intellectual merit of the activity is the analytical development and experimental validation of finite-dimensional plant models with explicit dissipative structure, and the development and experimental validation of a new class of model-based adaptive identifiers and tracking controllers for underwater vehicles. The broader impacts of the activity include: Development and web-based dissemination of "Dynamics and Control of Marine Vehicles," a new course at JHU. Advances developed under the proposed research will be transitioned to the vehicles of the NSF supported National Deep Submergence Facility to improve their operational capabilities for U.S. oceanographic science.

本研究计画将发展有限维非线性动力学模型的水下机器人车辆，并将这些模型的可证明稳定的非线性控制器的发展动态操纵的水下机器人。本研究将直接解决以下两个问题：1.非线性有限维动力学建模：我们正在开发海洋航行器的非定常耗散流体动力学模型和数值模拟，并在低速操作条件下对这些分析模型进行实验验证，这些低速操作条件通常适用于从事调查，采样，对接和操纵操作的动态定位航行器。稳定的基于模型的非线性自适应控制：我们正在开发6自由度基于模型的自适应跟踪控制器，并在全尺寸实验中对新技术和以前报道的技术进行实验评估。其目标是使海洋车辆能够执行目前被认为是不可行或不切实际的任务与现有的有人驾驶和无人驾驶系统。 该活动的智力价值是具有显式耗散结构的有限维植物模型的分析开发和实验验证，以及一类新的基于模型的自适应识别器和水下航行器跟踪控制器的开发和实验验证。 该活动的更广泛的影响包括：开发和基于网络的传播“海洋车辆的动力学和控制”，这是JHU的一门新课程。根据拟议的研究开发的进展将过渡到NSF支持的国家深潜设施的车辆，以提高其对美国海洋科学的操作能力。