基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制
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摘要
基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。
The underwater vehicle equipped with control moment gyros( CMGs) has the capability to maneuver at a low or zero speed.The scheme of an underwater vehicle based on the distributed CMGs is adopted,and its trajectory tracking control problem is considered in the horizontal plane. A global diffeomorphism transformation is used to decouple the incomplete symmetry dynamic model to the normal underactuated control model,and then the trajectory tracking error dynamic model,built based on the simplified model,is employed to transform the trajectory tracking control problem into the stabilization problem of the error system. Based on a shunting neural dynamic model and backstepping techniques,the trajectory tracking control law is developed without any derivative calculations of virtual control inputs and can guarantee the tracking errors to be semi-globally uniformly bounded. Finally,simulation results illustrate the performance and effectiveness of the proposed controller,which is capable of tracking smooth trajectories with no prior knowledge of the dynamic parameter.
The underwater vehicle equipped with control moment gyros( CMGs) has the capability to maneuver at a low or zero speed.The scheme of an underwater vehicle based on the distributed CMGs is adopted,and its trajectory tracking control problem is considered in the horizontal plane. A global diffeomorphism transformation is used to decouple the incomplete symmetry dynamic model to the normal underactuated control model,and then the trajectory tracking error dynamic model,built based on the simplified model,is employed to transform the trajectory tracking control problem into the stabilization problem of the error system. Based on a shunting neural dynamic model and backstepping techniques,the trajectory tracking control law is developed without any derivative calculations of virtual control inputs and can guarantee the tracking errors to be semi-globally uniformly bounded. Finally,simulation results illustrate the performance and effectiveness of the proposed controller,which is capable of tracking smooth trajectories with no prior knowledge of the dynamic parameter.
引文
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[2]LAPPAS V J,STYN W H,UNDERWOOD C I.Torque amplification of control moment gyros[J].Electronics Letters,2002,38(15):837-839.
[3]THORNTON B,URA T,NOSE Y,et al.Zero-G class underwater robots:unrestricted attitude control using control moment gyros[J].IEEE Journal of Oceanic Engineering,2007,32(3):565-583.
[4]吴忠,吴宏鑫.“和平号”空间站SGCMG系统及其操纵[J].航天控制,1999(2):76-80.(WU Zhong,WU Hongxin.SGCMG system and its steering of the mir space station[J].Aerospace Control,1999(2):76-80.(in Chinese))
[5]连伦,吴忠.基于控制力矩陀螺的水下运载器动力学与仿真[J].北京航天航空大学学报,2010,36(9):1108-1112.(LIAN Lun,WU Zhong.Dynamics and simulation of autonomous underwater vehicle based on control moment gyros[J].Journal of Beijing University of Aeronautics and Astronautics,2010,36(9):1108-1112.(in Chinese))
[6]XU Ruikunu,TANG Guoyuan,XIE De,et al.Underactuated tracking control of underwater vehicles using control moment gyros[J].International Journal of Advanced Robotic Systems,2018:10.1177/1729881417750759.
[7]HU Q,GUO C,ZHANG J.Singularity and steering logic for control moment gyros on flexible space structures[J].Acta Astronautica,2017,137:261-273.
[8]曹永辉,石秀华.水下航行器轨迹跟踪控制与仿真[J].计算机仿真,2006,23(7):19-21.(CAO Yonghui,SHI Xiuhua.Trajectory tracking control and simulation of AUV[J].Computer Simulation,2006,23(7):19-21.(in Chinese))
[9]万磊,董早鹏,李岳明,等.非完全对称欠驱动高速无人艇轨迹跟踪控制[J].电机与控制学报,2014,18(10):95-103.(WAN Lei,DONG Zaopeng,LI Yueming,et al.Trajectory tracking control of incomplete symmetry underactuated USV at high speed[J].Electric Machines and Control,2014,18(10):95-103.(in Chinese))
[10]ZHENG H R,NEGENBORN R R,LODEWIJKS G.Trajectory tracking of autonomous vessels using model predictive control[J].World Congress,2014,47(3):8812-8818.
[11]曾德伟,吴玉香,王聪.不确定AUV的神经网络辨识和学习控制[J].计算机仿真,2017,34(6):314-318.(ZENGDewei,WU Yuxiang,WANG Cong.Neural network identification and learning control of uncertain AUV[J].Computer Simulation,2017,34(6):314-318.(in Chinese))
[12]JI D,LIU J,ZHAO H,et al.Path following of autonomous vehicle in 2D space using multivariable sliding mode control[J].Journal of Robotics,2014,2014:1-6.
[13]杨泽文,贾鹤鸣,宋文龙,等.基于高增益观测器的AUV水平面轨迹跟踪控制[J].计算机工程与应用,2017,53(11):26-30.(YANG Zewen,JIA Heming,SONG Wenlong,et al.Horizontal trajectory tracking control of AUV based on high gain observer[J].Computer Engineering and Applications,2017,53(11):26-30.(in Chinese))
[14]唐国元,冯雷,黄道敏,等.陀螺效应作用下水下航行体动力学模型及其运动特性研究[J].海洋工程,2012,30(3):112-118.(TANG Guoyuan,FENG Lei,HUANG Daomin,et al.Research on the dynamics model and motion characteristics of submerged vehicle considering the gyroscopic effect[J].The Ocean Engineering,2012,30(3):112-118.(in Chinese))
[15]YAN Z,YU H,ZHANG W,et al.Globally finite-time stable tracking control of underactuated UUVs[J].Ocean Engineering,2015,107:132-146.
[16]YANG S X,MENG M Q.Neural network approaches to dynamic collision-free trajectory generation[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2001,31(3):302-318.
[17]YANG S X,ZHU A,YUAN G F,et al.A bioinspired neurodynamics-based approach to tracking control of mobile robots[J].IEEE Transactions on Industrial Electronics,2012,59(8):3211-3220.
[18]PAN C Z,LAI X Z,YANG S X,et al.A biologically inspired approach to tracking control of underactuated surface vessels subject to unknown dynamics[J].Expert Systems with Applications,2015,42(4):2153-2161.
[19]PRESTERO T.Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle[D].Massachusetts:Massachusetts Institute of Technology and Woods Hole Oceanographic Institution,2001.