摘要
镇定控制是指在控制输入作用于水下机器人,使水下机器人能够从任意的初始位置和姿态到达,并且稳定在设计的位置和姿态,在深潜救生艇的水下对接、定位跟踪中应用广泛。通过对欠驱动AUV的六自由度空间运动方程和轨迹方程简化,采用四元数方法进行了模型变换,提出了一种具有4个控制输入的连续时变镇定控制律,证明了提出的控制律的收敛性,并且进行了镇定仿真实验演示。仿真结果表明,控制律是有效的,并且能够在任意初始条件下实现镇定控制。
Stabilization control aims at stabilizing the AUV to the designed position and attitude from any initial po- sition under the controlling input. Stabilization is widely used in the abutment of deep-water submarines and location tracking. This paper describes a new time-variable stabilization law with four inputs which was designed based on the simplification of the 6-DOF （ degree of freedom） space motion and trace equations of an underaetuated AUV and the conversion of the model which was realized by quatemion. The control trial was done to prove that the con- trol law was convergent. The simulation results prove that the control method is effective and the stabilization can be achieved under any initial conditions.
出处
《智能系统学报》
CSCD
北大核心
2014年第2期186-191,共6页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(51279221
51179035)
黑龙江省自然科学基金资助项目(E201121)
关键词
智能水下机器人
镇定控制
三维
轨迹
线性控制系统
时变系统
运动控制
仿真
autonomous underwater vehicles
stabilization
three dimensional
trajectories
linear control systems
time varying systems
motion control
simulation
