Precise trajectory control for an inspection class ROV
Precise trajectory control for an inspection class ROV
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DOI：
10.1016/j.oceaneng.2015.08.061
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发表时间：
2016-01-01
影响因子：
5
通讯作者：
Buckham, Bradley J.
中科院分区：
文献类型：
--
作者：
Soylu, Serdar;Proctor, Alison A.;Buckham, Bradley J.
这项工作涉及用于检查级远程操作水下航行器（ROV）的新型精确制导和控制系统的设计、实施和测试。提出了一种新的多输入多输出控制律，由基于模型的等效控制信号和两个自适应信号组成。在控制器中，第一个自适应信号是具有新颖自适应法则的PID信号，该自适应法则增强了控制器性能并允许对控制器进行有效的微调。第二自适应信号连续估计集总不确定性向量的上限，并充当等效控制律的校正项。实现了基于李亚普诺夫的制导算法，可以容忍系统运动学中的显着不确定性。该系统在 ROV 上的有效性已通过保护区水域的现场试验得到证明。在实验工作中，使用扩展卡尔曼滤波器进行导航，将车载传感器测量结果与过程模型相结合，以产生车辆动力学的估计。集体制导和导航系统使用高精度光学运动捕捉数据进行验证。该系统实现了分米级精度，显着扩展了 ROV 执行需要高精度位置和速度控制的任务的能力。 (C) 2015 Elsevier Ltd. 保留所有权利。
This work addresses the design, implementation and testing of a new precision guidance and control system for an inspection class remotely operated underwater vehicle (ROV). A new multi-input multi-output control law, composed of a model-based equivalent control signal and two adaptive signals, is presented. In the controller, the first adaptive signal is a PID signal with a novel adaptation law that enhances the controller performance and allows efficient fine tuning of the controller. The second adaptive signal continuously estimates the upper bound on the lumped uncertainty vector and acts as a corrective term for the equivalent control law. A Lyapunov based guidance algorithm is implemented that can tolerate significant uncertainties in the system kinematics. The effectiveness of the system on an ROV is demonstrated through field trials in sheltered waters. For the experimental work, an extended Kalman filter is used to for navigation, blending the on-board sensor measurements with a process model to produce an estimate of the vehicle dynamics. The collective guidance and navigation system are validated using high precision optical motion capture data. The system achieves decimetre-level precision, significantly extending the capabilities of the ROV for tasks requiring high precision position and velocity control. (C) 2015 Elsevier Ltd. All rights reserved.