摘要
针对水下机器人轨迹跟踪控制的速度跳变问题,提出了一种基于生物启发神经动力学模型的自治水下机器人(AUV)三维轨迹跟踪控制算法。利用生物启发神经动力学模型的平滑、有界输出的特性,构造简单的中间虚拟变量,克服了海流影响下AUV反步轨迹跟踪控制的速度跳变问题,并且控制效果能够达到全局渐近稳定、输出结果连续平滑。利用Lyapunov函数证明了所提方法的稳定性。将该方法对"海筝二号"水下机器人进行三维轨迹跟踪控制的仿真实验,仿真结果表明了所提控制方法的有效性。
To deal with the speed jump problem with the traditional backstepping tracking controller, a three-dimen- sional tracking control algorithm on the basis of the bio-inspired dynamic model of the autonomous underwater vehi- cle （AUV） for ocean currents is proposed in this paper. Because of the smoothness and boundedness of the output from the bio-inspired model, a simple virtual variable is constructed by using the bio-inspired model to make the re- sults of the control global asymptotically stable and the output continuously smooth. As a result, the speed jump problem can be solved. The stability of the system can he demonstrated by the Lyapunov function. Finally, this con- trol method is applied to simulate the three-dimensional trajectory tracking control on the HAIZHNG Ⅱ AUV. The correctness and effectiveness of the proposed control law are verified by the simulation.
出处
《智能系统学报》
CSCD
北大核心
2014年第2期180-185,共6页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(51075257
51279098)
上海市科委创新行动计划资助项目(13510721400)
上海市教委科研创新研究重点资助项目(13ZZ123)
