摘要
研究了欠驱动自主水下航行器的水平面直线航迹跟踪控制问题。针对传统方法所设计的直线航迹跟踪控制力矩较为复杂的问题,提出了基于级联系统理论的控制力矩设计方法,并通过构造李亚普诺夫函数,推导出了具有全局渐近稳定的控制力矩。方法控制力矩设计简单并具有直观的理论稳定性分析,避免了传统控制方法所设计的控制力矩存在的复杂性问题。最后,仿真结果证明了控制器能保证闭环系统所有状态渐近稳定,达到了欠驱动AUV直线航迹跟踪控制目的,验证了所提出方法的有效性和可行性。
In this paper, the problem of line tracking control of underactuated AUV （Autonomous underwater vehicle） is addressed. By constructing Lyapunov function and using cascaded approach, the control torque of underactuated AUV is educed. Therefore, the complexity of traditional control torque of underactuated AUV is eliminated. Meanwhile, the stability of system is analyzed by using Lyapunov theory. This method is very simple and provided with the academic analysis of system＇s stability. Simulation results show that the control torque proposed in this paper can guarantee that all states of system are asymptotically stable. The proposed method is effective and feasible. The proposed method can be applied to line tracking control of underactuated AUV.
出处
《计算机仿真》
CSCD
北大核心
2009年第10期145-147,170,共4页
Computer Simulation
基金
新世纪优秀人才支持计划资助(教技司[2005]290)
关键词
欠驱动自主水下航行器
级联方法
李亚普诺夫函数
跟踪控制
Underactuated autonomous underwater vehicle
Cascaded approach
Lyapunov function
Tracking control
