| 海流干扰作用下欠驱动AUV航路点跟踪控制 |
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| 引用本文： | 夏梁盛,严卫生. 海流干扰作用下欠驱动AUV航路点跟踪控制[J]. 鱼雷技术, 2011, 19(4): 271-275 |
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| 作者姓名： | 夏梁盛 严卫生 |
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| 作者单位： | 1. 西北工业大学航海学院,陕西西安,710072
2. 西北工业大学航海学院,陕西西安,710072;水下信息与控制重点实验室,陕西西安,710072 |
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| 基金项目： | 国家自然科学基金资助项目(60875071); 高等学校博士点基金资助项目(200806990008) |
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| 摘 要： | 针对海流干扰作用下欠驱动自主水下航行器（AUV）的航路点跟踪控制问题，建立了水平面内欠驱动AUV三自由度数学模型，以相对于水流的前向速度和角速度为虚拟输入，设计了航路点跟踪控制的运动学控制律，然后基于反演方法设计了动力学控制律，得到控制力和控制力矩。在航路点跟踪控制仿真研究中，指定AUV依次通过惯性坐标系内一系列航路点，仿真结果表明，所设计的控制律有效，欠驱动AUV能较好的完成航路点跟踪任务，并到达最终目标点。
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| 关 键 词： | 欠驱动自主水下航行器 海流干扰 航路点跟踪 反演法 |
Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance |
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| XIA Liang-sheng,YAN Wei-sheng. Way-Point Tracking Control of an Underactuated AUV in the Presence of Ocean Current Disturbance[J]. Torpedo Technology, 2011, 19(4): 271-275 |
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| Authors: | XIA Liang-sheng YAN Wei-sheng |
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| Affiliation: | 1. College of Marine Engineering, Northwestern Polytechnical University, Xi＇an 710072, China; 2. Science and Technology on Underwater Information and Control Laboratory, Xi＇an 710072, China) |
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| Abstract: | This paper addresses the problem of way-point tracking control of an underactuated autonomous underwater vehicle(AUV) in the presence of ocean current disturbance.Kinematics and dynamics models for the underactuated AUV with three degrees of freedom in horizontal plane are established.A kinematic controller is designed with the dummy inputs of forward speed and angular velocity relative to the current.Then a dynamic controller is derived based on the Lyapunov theory and the backstepping techniques.Simulatio... |
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| Keywords: | underactuated autonomous underwater vehicle(AUV) ocean current disturbance way-point tracking back-stepping |
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