摘要
该文针对欠驱动水下机器人(AUV)在水下动态对接时同速跟踪的姿态控制问题展开研究,设计了一种基于多维泰勒网的欠驱动AUV双闭环姿态反步控制方法。基于多维泰勒网的跟踪函数,设计内环多维泰勒网控制律,调整欠驱动AUV姿态角的变化速度,保证对接的精度。利用反步法设计外环反步控制器,调整欠驱动AUV的姿势角,使其航向实时跟踪动态变化的回收船位置,以提升复杂水文环境下对接的成功率。仿真结果表明,该文设计的方法能够实现欠驱动AUV姿态角与调整速度的精确控制,在外部水流扰动环境下具有较好的动静态跟踪能力,具有较高的一次对接成功率。
This article focuses on the attitude control problem of under-actuated Underwater Vehicle(AUV)with same speed tracking during underwater dynamic docking,and designs a dual closed-loop attitude backstepping control method for underactuated AUV based on multi-dimensional Taylor networks.Based on the tracking function of the multi-dimensional Taylor net,the control law of the inner loop multi-dimensional Taylor net is designed to adjust the change speed of the attitude angle of the under-driven AUV to ensure the accuracy of docking.Then,by using the backstepping method,the outer ring backstepping controller is designed to adjust the attitude angle of the under-driven AUV,so that its heading tracks the preset position of the recovery ship,so that it can track the dynamically changing position of the recovery ship in real time,so as to improve the success rate of docking in complex hydrological environment.The simulation shows that the method designed in this article can achieve precise control of underactuated AUV attitude angle and adjustment speed,and has excellent dynamic and static tracking ability in external water flow disturbance environment,with a high success rate of one docking.
作者
王光辉
王伟然
王龙
徐正涛
WANG Guanghui;WANG Weiran;WANG Long;XU Zhengtao(School of Automation,Jiangsu University of Science and Technology,Zhenjiang 212100,China)
出处
《电子设计工程》
2024年第24期11-15,共5页
Electronic Design Engineering
基金
国家自然科学基金(51809128,62006102)。
关键词
欠驱动AUV
动态对接
双闭环姿态控制
多维泰勒网控制
反步控制
under-actuated AUV
dynamic docking
dual closed-loop attitude control
multi-dimensional Taylor net control
backstepping control
