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

该研究项目将建立水下机器人的有限维非线性动力学模型，并将这些模型应用于水下机器人动态机动的可证明稳定的非线性控制器的开发中。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：我们正在开发用于海洋航行器的非定常耗散水动力模型和数值模拟，并在从事测量、采样、对接和操纵作业的动态定位航行器的典型低速运行条件下对这些分析模型进行实验验证。稳定的基于模型的非线性自适应控制：我们正在开发基于六自由度模型的自适应跟踪控制器，并在全面的实验试验中对新技术和以前报道的技术进行实验评估。其目标是使海上运载工具能够执行目前被认为不可行或不切实际的任务，使用现有的有人和无人系统。这项活动的智力价值在于对具有显式耗散结构的有限维植物模型进行了分析和实验验证，并开发了一类新的基于模型的水下机器人自适应辨识器和跟踪控制器。这项活动的更广泛影响包括：开发和在网上传播“海洋车辆动力学和控制”，这是JHU的一门新课程。根据拟议研究开发的进展将转化为NSF支持的国家深潜设施的运载工具，以提高其对美国海洋科学的操作能力。

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.