| 非线性迭代滑模的欠驱动AUV路径跟踪控制 |
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| 引用本文： | 王璐,张利军,王红滨,贾鹤鸣,杨立新.非线性迭代滑模的欠驱动AUV路径跟踪控制[J].计算机工程与应用,2011,47(27):239-242. |
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| 作者姓名： | 王璐 张利军 王红滨 贾鹤鸣 杨立新 |
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| 作者单位： | 1. 哈尔滨工程大学自动化学院,哈尔滨,150001
2. 哈尔滨工程大学计算机科学与技术学院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金(No.60973028); 教育部博士点基金(No.20102304110003); 中央高校基本科研业务费专项资金资助(No.HEUCF100605)~~ |
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| 摘 要： | 为实现欠驱动自治水下机器人(AUV)在未知海流干扰作用下的路径跟踪控制,提出一种基于非线性迭代滑模增量反馈的路径跟踪控制器。选用一般曲线参数和Serret-Frenet坐标系描述路径跟踪误差,建立AUV水平面路径跟踪误差方程。采用迭代方法,设计滑模增量反馈控制器,无需对AUV模型参数不确定部分和海流干扰进行估计。仿真实验表明,设计的控制器参数易于调节,可用于实际欠驱动水下机器人来实现对水平面路径的精确跟踪。
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| 关 键 词： | 欠驱动自治水下机器人 路径跟踪 迭代滑模 曲线参数 |
| 修稿时间： | |
Path-following controller for under-actuated AUV of nonlinear iterative sliding mode |
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| WANG Lu,ZHANG Lijun,WANG Hongbin,JIA Heming,YANG Lixin.Path-following controller for under-actuated AUV of nonlinear iterative sliding mode[J].Computer Engineering and Applications,2011,47(27):239-242. |
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| Authors: | WANG Lu ZHANG Lijun WANG Hongbin JIA Heming YANG Lixin |
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| Affiliation: | WANG Lu 1,ZHANG Lijun 1,WANG Hongbin 2,JIA Heming 1,YANG Lixin 11.College of Automation,Harbin Engineering University,Harbin 150001,China 2.College of Computer Science and Technology,China |
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| Abstract: | For the realization of under-actuated Autonomous Underwater Vehicle(AUV) in unknown disturbance currents under the control of path following,an increment feedback control method based on nonlinear iterative sliding mode control is presented.Using common curve parameters and the serret-frenet coordinate system describes the path tracking error,the equation of AUV horizontal tracking error is established.Incremental sliding mode feedback controller is designed by iterative method without uncertainty parameter... |
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| Keywords: | under-actuated autonomous underwater vehicle path-following iterative sliding mode curve parameters |
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