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研究了自主水下航行器的编队控制问题,基于编队参考中心思想为每个AUV构造了期望参考轨迹。将每个AUV的系统误差分为自身跟踪误差和与邻居AUV的协同误差两部分,在此基础上,针对AUV模型参数不确定性,提出一种自适应分布式控制律,使得每个AUV沿着自身期望轨迹运动,并与相邻AUV保持同步,从而与编队参考中心保持期望的距离,达到编队控制的目的。文章基于Lyapunov稳定性原理从理论上证明了闭环系统的稳定性,仿真结果表明所提出的算法是有效的。 相似文献
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对自主水下航行器(AUV)在执行水下搜救任务过程中遇到的三维路径跟踪控制和定点驻停问题进行研究。在固定坐标系和机体坐标系下建立AUV的运动学模型,引入流体坐标系,设计适宜进行运动控制的三维路径跟踪控制器,并在Serret-Frenet坐标系下建立AUV的路径跟踪误差模型;基于三维视距制导律控制设计AUV的三维路径跟踪控制器,在此基础上提出一种适于水下搜救工况的AUV路径跟踪控制方法,使AUV能完成对参数化路径的跟踪和在预设目标点的驻停;同时,基于李雅普诺夫稳定性原理证明该控制器的稳定性。仿真试验结果表明,设计的控制器有效,能实现对面向水下搜救的AUV路径跟踪控制。 相似文献
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NTSM控制的AUV路径跟踪控制研究 总被引:3,自引:0,他引:3
针对非线性欠驱动自治水下机器人(Autonomous underwater vehicle,缩写为AUV),提出了一种基于非奇异终端滑模(Non—singular terminal sliding mode,缩写为NTSM)控制的鲁棒路径跟踪控制方法。在跟踪控制系统中,采用的参考变量为非时间量,摆脱了时间因素的影响,有利于提高AUV在不确定环境中的跟踪能力。应用指数趋近律进行NTSM控制器设计,能保证系统状态在有限时间内到达平衡点。数值仿真结果验证了该控制律的路径跟踪效能。 相似文献
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《舰船科学技术》2017,(23)
针对水下航行环境中自治水下机器人(Autonomous Underwater Vehicles,AUV)航迹精确跟踪问题,提出一种基于模糊自适应滑模方法的AUV航迹跟踪控制算法。在建立AUV系统动力学模型基础上,将其运动通过变结构滑模控制律结合模糊逼近设计出AUV航迹跟踪控制系统,采用模糊系统实现模型未知干扰的自适应逼近,基于Lyapunov稳定性理论,讨论了闭环系统的稳定性。在考虑加入外界干扰的条件下使用Matlab/Simulink软件,进行数值仿真,模拟轨迹跟踪能够达到稳定并且较平滑连续跟踪预定航迹,对干扰有较好的抑制作用。仿真结果表明了所提控制方法的有效性。 相似文献
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[目的]针对水面无人艇(USV)的海上通信受限的问题,提出一种带有状态/输入量化的USV航向跟踪控制方法。[方法]基于反步法设计系统控制律,结合动态面技术降低虚拟控制律的计算量膨胀问题。对于控制系统中存在的不确定项及外界干扰,利用扩张状态观测器(ESO)进行估计。采用均匀量化器分别对控制系统中的状态变量和控制输入进行量化,且量化后的状态反馈信息仅用于跟踪控制。利用量化状态递归设计基于ESO的USV航向控制器,证明闭环控制系统中量化变量和非量化变量间误差的有界性。[结果]基于李雅普诺夫稳定性理论,提出了量化误差考量及闭环系统稳定性判定方法,严格证明了所设计的带有状态量化和输入量化的USV航向跟踪控制系统的稳定性,仿真实验验证了该控制策略的有效性。[结论]结果表明,所提方法可为USV航向跟踪控制提供借鉴。 相似文献
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针对水下机器人存在环境干扰时的三维路径跟踪问题,设计基于干扰观测器的非线性运动控制器.首先考虑三维空间中给定路径点坐标时的跟踪轨迹生成问题,采用三次样条算法生成二阶可导的跟踪路径,同时基于三维视线导航算法(LOS)生成姿态指令.考虑海流等未知外界干扰和模型参数不确定性对水下机器人运动的影响,采用非线性干扰观测器对干扰和不确定项进行估计,并将反步法和自适应滑模相结合设计运动控制律,解决了不确定干扰估计误差界未知的问题,并保证系统的全局渐近稳定性.最后,通过仿真实验表明该方法能够实现水下机器人的姿态控制,对于模型参数不确定和存在外界干扰的AUV有较好的自适应性和鲁棒性,可以使AUV的运动精确地跟踪期望轨迹. 相似文献
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《中国舰船研究》2015,(4)
针对模型参数不确定及存在外界海流扰动情况下全驱型无人水下航行器(UUV)的航迹跟踪问题,提出了一种双闭环Terminal滑模控制方法。首先,为了防止UUV位置和姿态跟踪控制出现超调量过大的问题,在外环中引入位置和姿态负反馈,设计了UUV的参考速度作为镇定UUV位置和姿态跟踪误差的虚拟控制律。然后,在内环中将虚拟控制律作为跟踪目标。考虑到传统滑模控制会出现"抖振"现象,采用Terminal滑模控制方法,在消除"抖振"的同时,使滑模面上的速度跟踪误差在有限时间内收敛到稳态。最后,运用Lyapunov稳定性理论证明了该双闭环Terminal滑模控制系统的稳定性。仿真结果表明,该控制方法能够实现UUV对空间航迹的精确跟踪。 相似文献
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水下潜器改进S面控制及控制系统仿真(英文) 总被引:1,自引:0,他引:1
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However,
it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular
AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.
It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.
A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure
was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization
algorithm has good local and global searching abilities, and the method can be reliably used for an AUV. 相似文献
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局部回归神经网络在水下机器人运动控制中的应用 总被引:3,自引:1,他引:2
探讨了水下机器人神经网络运动模型的结构,提出了带有局部回归结构的水下机器人神经网络控制器结构及预测控制的实现方法,给出了该神经网络的教师样本生成方法及学习方法,计算机仿真与水池实验结果验证了本文提出方法的有效性和可行性。 相似文献
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基于神经网络的无人无缆水下机器人运动建模与控制技术研究 总被引:3,自引:1,他引:2
对自主型水下机器人(AUV)神经网络运动模型的结构进行了理论分析和探讨,提出了非完全回归型神经网络、增加积分层的输出层结构及相应的分步式学习方法。对AUV运动过程中目标运动路径和目标运动速度的同时跟踪控制进行了系统研究。提出了由主控网络和伴随网络构成的神经网络控制器结构,给出了通过计算机模拟来生成教师样本的方法,提出了预测控制的思想。计算机仿真及水下机器人“Twin-Burger”的水池实验结果验证了本文所提出的建模方法和跟踪控制方法的有效性和可行性。 相似文献
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水下机器人非完全回归型神经网络运动模型的研究 总被引:3,自引:0,他引:3
研究了基于神经网络建立水下机器人(AUV)运动模型的方法,提出以非完全回归形式来表现输入输出变量的时序列影响和输出层向输入层回归的封闭式结构以实现运动模型的模拟机能,并给出了相应的训练和学习方法。此外,又提出了对输出层增加积分环节及神经网络输入输出变量进行正规化处理的方法。计算机的仿真及实际水下机器人“PW45”的建模结果,表明本文所提出的建模方法的有效性和可行性。 相似文献
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The role of autonomous underwater vehicles (AUVs) is more important in the quest to reach the deep seas today than ever before. The hull shape of the AUV can differ depending on the special mission considered for the vehicle. Therefore, different types of algorithms for the body shape design of these kinds of vehicles are being developed every day. In the current work, a new procedure has been proposed for designing the body shape of an AUV. Using this method which is based on a desired pressure distribution, it is possible to obtain the desired hull shape design. Artificial neural network algorithm has been used for this purpose. Preliminary data for training and testing of the network have been obtained from CFD simulation of the flow around the body of Hydrolab500 AUV. In this regard, pressure distribution has been evaluated around each body by changing the nose and tail profile of AUV. The results obtained from this research indicate that a body correlated to the desired pressure can be designed properly. 相似文献
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Jun Han Akira Asada Tamaki Ura Yukinaga Yamauchi Yasunobu Yagita Toshihiko Maki 《Journal of Marine Science and Technology》2007,12(3):183-189
A new and effective seafloor geodetic observing robot network system, which consists of several submarine stations situated
in regions susceptible to interplate earthquakes, has been proposed and is under construction in Japan. Each station, equipped
with an autonomous underwater vehicle (AUV) dock, is connected to a land facility by cables providing power and communication.
Near the AUV dock, three or four seafloor reference stations will be set up for geodetic observations. In this system, a noncontact
power supply is required for a battery-driven AUV to conduct observations for extended durations. A small, intelligent, efficient,
high-power noncontact feed system of 400 W capacity with an inverting efficiency of 77% in salt water has been developed.
It has been shown to be effective in a water tank experiment in which the noncontact power supply automatically fed power
to an AUV for 3 days. 相似文献
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ZHANG Ming-jun ZHENG Jin-xing ZHANG Jing College of Mechanical Electrical Engineering Harbin Engineering University Harbin China College of Computer Information Science Harbin Engineering University Harbin China 《船舶与海洋工程学报》2002,1(1):81-86
To research the effect of the selection method of multi-objects genetic algorithm problem on optimizing result, thismethod is analyzed theoretically and discussed by using an autonomous underwater vehicle(AUV) as an object. A changingweight vtlue method is put forward and a selection formula is modified. Some experiments were implemented on an AUV.TwinBurger. The results shows that this method is effective and feasible. 相似文献
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Nikolay Burlutskiy Yaniss Touahmi Beom Hee Lee 《Journal of Marine Science and Technology》2012,17(3):315-329
Autonomous underwater vehicles (AUVs) have rapidly developed in the last few decades due to their autonomous properties in the investigation of an underwater environment. The goal of this paper is to develop a power efficient formation control for the cooperative motion of AUVs with a support vessel as a leader. In this paper, a kinematic algorithm for the joint motion of an AUV with a support vessel was developed and that algorithm was expanded for the formation of AUVs. The AUV yaw, surge and sway control loops were designed for that purpose. The complexing navigation system structure for the AUV was also developed. Simulation results demonstrated efficiency of the proposed kinematic algorithm for the joint motion of AUVs. Also, influence of lateral ocean current was considered. After development of the centralized leader?Cfollower formation control for the group of AUVs with a support vessel as a leader, we optimized a formation configuration in terms of power efficiency. Drag forces caused by AUV motion in the water can significantly influence power consumption. We investigated the relationship between the AUV's formation configuration, underwater coverage efficiency, communication quality and power consumption. As a result of research, we proposed a power efficient formation configuration for typical underwater operations. As a result, the effect of the AUV formation configuration on the power consumption was investigated and a trade-off solution for the optimal AUV positions in formation with minimal energy consumption, high coverage efficiency and small communication power consumption was derived. 相似文献
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YAN Zhe-ping HOU Shu-ping 《船舶与海洋工程学报》2005,4(2):20-27
A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV (autonomons underwater vehicle) and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES (time discrete event system). After taking into account the time problem, it is a useful method to control mating by sinmlation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure. 相似文献