水下机器人姿态控制方法仿真研究
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摘要
针对于非奇异终端滑模控制方法(NTSMC)在ROV的运动姿态控制应用中的局部收敛慢以及易波动的问题,提出一种新型快速非奇异终端滑模控制方法(FNTSMC)。建立了水下机器人的动力学模型,并进行了模型的简化;提出了一种新型FNTSMC,并证明了该方法的有效性。分别在理想环境和扰动环境下,将FNTSMC与NTSMC应用到ROV的运动姿态控制系统中,仿真结果表明:FNTSMC具有更快的收敛速度和更好的鲁棒性。
For the nonsingular terminal sliding mode control method( NTSMC) in the local convergence in the application of slow and volatile motion attitude control ROV,a new fast NTSM control( FNTSMC) is put forward. A dynamic model of underwater vehicle is established and simplified. A new FNTSMC is proposed,and the validity of the method is verified. In the ideal environment and disturbance environment,FNTSMC and NTSMC are applied to the ROV motion attitude control system respectively. The simulation results show that FNTSMC has faster convergence and better robustness.
For the nonsingular terminal sliding mode control method( NTSMC) in the local convergence in the application of slow and volatile motion attitude control ROV,a new fast NTSM control( FNTSMC) is put forward. A dynamic model of underwater vehicle is established and simplified. A new FNTSMC is proposed,and the validity of the method is verified. In the ideal environment and disturbance environment,FNTSMC and NTSMC are applied to the ROV motion attitude control system respectively. The simulation results show that FNTSMC has faster convergence and better robustness.
引文
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[15]孙行衍,等.基于UKF联邦滤波的动力定位船舶运动状态估计[J].中国造船,2013,(1):114-128.
[2]杨睿.水下机器人建模与鲁棒控制研究[D].中国海洋大学,2015.
[3] W M Bessa,M S Dutra,E Kreuzer. Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller[J]. Robotics and Autonomous Systems,2008,28(3/4):185-193.
[4]李升波,等.非奇异快速地终端滑模控制方法[J].信息与控制,2009,38(1):1-8.
[5]蒲明,等.高阶滑模微分器的分析与改进[J].控制与决策,2011,26(8):1136-1140.
[6] H Joe,M Kim,S Yu. Second-order sliding-mode control for autonomous underwater vehicle in the presence of unknown disturbances[J]. Nolinear Dynamics,2014,78(1):183-196.
[7] A B Farjiadian,M J Yazdanpanah,B Shafai. Application of reinforcement learning in sliding mode control for chattering reduction[C]. Proc of the World Congress on Engineering. London:Newswood Limited,2013:743-747.
[8]朱康武,等.水下运载器多变量鲁棒输出反馈控制方法[J].浙江大学学报(工学版),2012,46(8):1397-1406.
[9] A J Srensen. A survey of dynamic positioning control systems[J].Annual reviews in control,2011,35(1):123-136.
[10] T I Fossen. Marine control systems:guidance,navigation and control of ships,rigs and underwater vehicles[M]. Marine Cybernetics,2002:123-138.
[11] Y Feng,S Bao,X H Yu. Design method of non-singular terminal sliding mode control systems[J]. Control and Decision,2002,17(2):194-198.
[12]袁雷,等.基于扰动观测器的不确定非线性系统非奇异终端滑模控制[J].控制与决策,2014,29(2):353-356.
[13]丁世宏,张弛,李雪冰.饱和情况下二阶系统的终端滑模控制[C].贵阳:第25届中国控制与决策会议,2013. 5. 25-27:2013:265-269.
[14]曹永辉.复杂环境下自主式水下航行器动力定位技术研究[D].西北工业大学,2006:25-30.
[15]孙行衍,等.基于UKF联邦滤波的动力定位船舶运动状态估计[J].中国造船,2013,(1):114-128.