| 基于离散滑模预测的欠驱动AUV三维航迹跟踪控制 |
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| 引用本文： | 贾鹤鸣,程相勤,张利军,边信黔,严浙平.基于离散滑模预测的欠驱动AUV三维航迹跟踪控制[J].控制与决策,2011,26(10):1452-1458. |
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| 作者姓名： | 贾鹤鸣 程相勤 张利军 边信黔 严浙平 |
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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. 海军核辐射仪器计量站,山东青岛,266100 |
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| 基金项目： | 国家自然科学基金项目(60704004); 教育部博士点基金项目(20070217078,20102304110003) |
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| 摘 要： | 针对欠驱动自主水下航行器（AUV）的模型不确定和外界海流干扰问题,为了实现欠驱动AUV的三维航迹跟踪控制,采用虚拟向导法建立空间运动误差离散化模型.基于递归滑模思想设计离散滑模预测控制器,利用滚动优化和反馈校正方法补偿了不确定项对滑模预测模型的影响.最后针对某欠驱动AUV进行了空间曲线跟踪控制仿真实验.结果表明,所设计的控制器可以较好地克服时变非线性水动力阻尼对系统的影响,并对外界海流干扰有较好的抑制作用,保证了欠驱动AUV三维航迹跟踪系统的鲁棒性,实现了三维航迹的精确跟踪.
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| 关 键 词： | 欠驱动自主水下航行器 三维航迹跟踪 离散滑模预测 虚拟向导 |
| 收稿时间： | 2010/5/25 0:00:00 |
| 修稿时间： | 2010/8/10 0:00:00 |
Three-dimensional Path Tracking Control for An Underactuated AUV Based on Discrete-time Sliding Mode Prediction |
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| JIA He-ming,CHENG Xiang-qin,ZHANG Li-jun,BIAN Xin-qian,YAN Zhe-ping.Three-dimensional Path Tracking Control for An Underactuated AUV Based on Discrete-time Sliding Mode Prediction[J].Control and Decision,2011,26(10):1452-1458. |
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| Authors: | JIA He-ming CHENG Xiang-qin ZHANG Li-jun BIAN Xin-qian YAN Zhe-ping |
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| Affiliation: | JIA He-ming1,CHENG Xiang-qin2,ZHANG Li-jun1,BIAN Xin-qian1,YAN Zhe-ping1(1.College of Automation,Harbin Engineering University,Harbin 150001,China,2.Navy Nuclear Radiation Instrument Measurement Station,Qingdao 266100,China) |
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| Abstract: | According to the model uncertainties problem of an underactuated autonomous underwater vehicle(AUV) and the enviromental current disturbances problem,in order to achieve the three-dimensional path tracking control of the underactuated AUV,the space movement error model is established based on virtual guidance method.The discrete-time sliding mode predictive controller is designed based on recursive sliding mode designing theory.Feedback correction and receding horizon optimization approaches are employed to... |
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| Keywords: | underactuated autonomous underwater vehicle three-dimensional path tracking discrete-time sliding mode prediction virtual guidance method |
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