| 水下机器人高度信息融合与欠驱动地形跟踪控制 |
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| 引用本文： | 李岳明,万磊,孙玉山,张国成.水下机器人高度信息融合与欠驱动地形跟踪控制[J].控制理论与应用,2013,30(1):118-122. |
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| 作者姓名： | 李岳明 万磊 孙玉山 张国成 |
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| 作者单位： | 1. 哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨,150001
2. 哈尔滨工程大学船舶工程学院,黑龙江哈尔滨,150001 |
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| 基金项目： | 国家“863”计划资助项目(2008AA092301–2); 中央高校基本科研业务费专项资金资助项目(HEUCFZ1003); 中国博士后科学基金资助项目(20100480964). |
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| 摘 要： | 研究了配置高度计和多普勒速度计(DVL)的欠驱动水下机器人地形跟踪控制问题.采用Takagi-Sugeno推理方法对高度计和DVL两种传感器的高度信息进行融合,提高了高度信息感知能力.将地形跟踪分为速度控制和深度控制问题,分别使用S面控制方法设计速度控制器和反步法设计欠驱动深度控制器.最后,通过实际海洋实验对研究的方法进行了验证,实验结果表明该文提出的方法是有效的.
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| 关 键 词： | 水下机器人 地形跟踪 反步法 S面控制 |
| 收稿时间： | 3/4/2012 12:00:00 AM |
| 修稿时间： | 7/1/2012 12:00:00 AM |
Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle |
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| LI Yue-ming,WAN Lei,SUN Yu-shan and ZHANG Guo-cheng.Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle[J].Control Theory & Applications,2013,30(1):118-122. |
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| Authors: | LI Yue-ming WAN Lei SUN Yu-shan and ZHANG Guo-cheng |
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| Affiliation: | National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University; College of Shipbuilding Engineering, Harbin Engineering University,National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University; College of Shipbuilding Engineering, Harbin Engineering University,National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University; College of Shipbuilding Engineering, Harbin Engineering University,National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University; College of Shipbuilding Engineering, Harbin Engineering University |
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| Abstract: | A bottom-following control problem is studied for an underactuated autonomous underwater vehicle (AUV) with an altimeter and a doppler velocity log (DVL). The Takagi-Sugeno decision approach fuses the altitude information from altimeter and DVL, which improves the altitude information perception capacity of AUV. The bottom-following control is discomposed into forward speed control and depth ontrol. The forward speed controller and the underactuated depth controller are solved by the S-plane control method and the backstepping method, respectively. The proposed method is tested in a real sea trial; the result shows that the method is feasible and effective. |
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| Keywords: | autonomous underwater vehicle bottom-following backstepping S-plane control |
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