DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES

开发用于欠驱动海洋航行器轨迹跟踪和路径跟踪的新型非线性控制器

• 批准号: DP0453294
• 负责人: Prof Duc Do
• 金额: $ 15.72万
• 依托单位: The University of Western Australia
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2004
• 资助国家: 澳大利亚
• 起止时间: 2004-01-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP0453294
• 关键词: DEVELOPMENT; NEW; NONLINEAR; CONTROLLERS; TRAJECTORY

Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.

欠驱动海洋机器人的轨迹跟踪控制和路径跟踪不仅具有理论挑战性，而且具有重要的实践意义。本计画首先发展全状态回授控制器之设计方法，以使系统矩阵中含有非对角项之欠驱动海洋载具（包括水面舰艇及水下机器人），能追踪虚拟载具所产生之参考轨迹，并以所需之前进速度沿预定路径前进。其次，我们开发的方法来设计观测器估计的不可测状态（速度）的车辆，并结合全状态反馈控制器有输出反馈的基于控制器。最后，将所提出的控制设计方法推广到一类欠驱动机械系统。