面向无缆水下机器人水下对接的轨迹跟踪控制
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摘要
针对欠驱动无缆水下机器人(autonomous underwater vehicle,AUV)的特点,面向水下对接的应用需要,在考虑其非完整约束的条件下,对水下机器人的非线性系统的可控性进行深入分析,并推导如何将非线性系统通过反馈变换转换成链式模型,在此基础上提出一种使用近似线性化的全状态反馈进行三维链式控制器设计的方法。最后,为了验证轨迹跟踪控制器的控制性能,在Matlab仿真环境下进行了实验,结果表明该方法可以实现路径跟踪误差的全局渐近稳定,验证了其有效性和合理性。
Under the consideration of autonomous underwater vehicle nonholonomic constrains,deep analysis is carried out on controllability of nonlinear system combining with the characteristics of underacuated AUV in order to meet the application requirements of underwater docking.Then demonstration on how to transform the nonlinear system into chained model through state feedback is made.Basing on previous derivation,a method of chained controller design using approximate-linear full state feedback is proposed.At last,relative experiments are done in Matlab simulation environment for the purpose of validating the performance of trajectory tracking controller.The results show that proposed method can make the global asymptotic stabilization path following error,thus its validity and rationality.
Under the consideration of autonomous underwater vehicle nonholonomic constrains,deep analysis is carried out on controllability of nonlinear system combining with the characteristics of underacuated AUV in order to meet the application requirements of underwater docking.Then demonstration on how to transform the nonlinear system into chained model through state feedback is made.Basing on previous derivation,a method of chained controller design using approximate-linear full state feedback is proposed.At last,relative experiments are done in Matlab simulation environment for the purpose of validating the performance of trajectory tracking controller.The results show that proposed method can make the global asymptotic stabilization path following error,thus its validity and rationality.
引文
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5赵慎,乔纯捷,王跃科.AUV水下对接导航定位技术研究.第三十一届中国控制会议.合肥:中国自动化学会,2012:74-79Zhao S,Qiao C J,Wang Y K.On the navigation positioning technologies in AUV underwater docking.Proceedings of the 31st Chinese Control Conference.Hefei:Chinese Association of Automation,2012:74-79
6李晔,姜言清,张国成,等.考虑几何约束的AUV回收路径规划.机器人,2015;37(4):478-485Li Y,Jiang Y Q,Zhang G C,et al.AUV recovery path planning method considering geometrical constraints.Robot,2015;37(4):478-485
7施淑伟,严卫生,高剑,等.常值海流作用下的AUV水平面路径跟踪控制.兵工学报,2010;31(3):375-379Shi S W,Yan W S,Gao J,et al.Path-following control of an AUVin the horizontal plane with constant ocean currents.Acta Armamentarii,2010;31(3):375-379
8 Repoulias F.Trajectory planning and tracking control design of underactuated AUVs.Proc of the IEEE Int Conf on Robotics and Automation.Barcelona:IEEE Press,2005:1622-1627
9马岭,崔维成.NTSM控制的AUV路径跟踪控制研究.中国造船,2006;47(4):76-82Ma L,Cui W C.Research on AUV path following control based on NTSM.Shipbuilding of China,2006;47(4):76-82
10施生达.潜艇操纵性.北京:国防工业出版社,1995Shi S D.Submarine maneuverability.Beijing:National Defence Industry Press,1995
11 Murry R M.Nonholonomic motion planning:steering using sinusoids.IEEE Transaction on Automatic Control,1993;38(5):700-716
12 Wichlund K Y,Sordalen O J,Egeland O.Control properties of underactuated vehicles.IEEE Int Conf on Robotics and Automation.Nagoya:IEEE Press,1995:2009-2014
13 Murry R M.Steering nonholonomic systems using sinusoids.Systems and Control Letters,1990;20(5):281-288
14 Bushnell L G,Tilbury D M,Sastry S S.Steering three input nonholonomic systems.European Controls Conference,1993:1432-1437
15 Tilbury D,Sordalen O J,Bushnell L,et al.A multi-steering trailer system:conversion into chained form using dynamic feedback.IEEETransactions on Robotics and Automation.New York:IEEE Press,1995:1223-1228
16 Kailath T.Linear systems.Englewood Cliffs:Prentice Hall,1980
17 Wadoo S,Kachroo P.Autonomous underwater vehicles modeling,control design,and simulation.Boca Raton:CRC Press,2013
2 Allen B,Auttin T,Forrester N,et al.Autonomous docking demonstrations with enhanced REMUS technology.Oceans,2006;18(21):1-6
3 Singh H,Bellingham J G,Hover F,et al.Docking for an autonomous ocean sampling network.IEEE Journal of Oceanic Engineering,2001;26(4):10-14
4 Fukasawa T.On the development of underwater docking and recharging system for AUV“Marine Bird”.Tokyo:Techno-Ocean,2002
5赵慎,乔纯捷,王跃科.AUV水下对接导航定位技术研究.第三十一届中国控制会议.合肥:中国自动化学会,2012:74-79Zhao S,Qiao C J,Wang Y K.On the navigation positioning technologies in AUV underwater docking.Proceedings of the 31st Chinese Control Conference.Hefei:Chinese Association of Automation,2012:74-79
6李晔,姜言清,张国成,等.考虑几何约束的AUV回收路径规划.机器人,2015;37(4):478-485Li Y,Jiang Y Q,Zhang G C,et al.AUV recovery path planning method considering geometrical constraints.Robot,2015;37(4):478-485
7施淑伟,严卫生,高剑,等.常值海流作用下的AUV水平面路径跟踪控制.兵工学报,2010;31(3):375-379Shi S W,Yan W S,Gao J,et al.Path-following control of an AUVin the horizontal plane with constant ocean currents.Acta Armamentarii,2010;31(3):375-379
8 Repoulias F.Trajectory planning and tracking control design of underactuated AUVs.Proc of the IEEE Int Conf on Robotics and Automation.Barcelona:IEEE Press,2005:1622-1627
9马岭,崔维成.NTSM控制的AUV路径跟踪控制研究.中国造船,2006;47(4):76-82Ma L,Cui W C.Research on AUV path following control based on NTSM.Shipbuilding of China,2006;47(4):76-82
10施生达.潜艇操纵性.北京:国防工业出版社,1995Shi S D.Submarine maneuverability.Beijing:National Defence Industry Press,1995
11 Murry R M.Nonholonomic motion planning:steering using sinusoids.IEEE Transaction on Automatic Control,1993;38(5):700-716
12 Wichlund K Y,Sordalen O J,Egeland O.Control properties of underactuated vehicles.IEEE Int Conf on Robotics and Automation.Nagoya:IEEE Press,1995:2009-2014
13 Murry R M.Steering nonholonomic systems using sinusoids.Systems and Control Letters,1990;20(5):281-288
14 Bushnell L G,Tilbury D M,Sastry S S.Steering three input nonholonomic systems.European Controls Conference,1993:1432-1437
15 Tilbury D,Sordalen O J,Bushnell L,et al.A multi-steering trailer system:conversion into chained form using dynamic feedback.IEEETransactions on Robotics and Automation.New York:IEEE Press,1995:1223-1228
16 Kailath T.Linear systems.Englewood Cliffs:Prentice Hall,1980
17 Wadoo S,Kachroo P.Autonomous underwater vehicles modeling,control design,and simulation.Boca Raton:CRC Press,2013