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基于AUV垂直面运动控制的状态增减多模型切换
Alternative TitleMulti-model with different variables switching control laws for the vertical plane control of an autonomous underwater vehicle
周焕银; 李一平; 刘开周; 封锡盛
Department水下机器人研究室
Source Publication哈尔滨工程大学学报
ISSN1006-7043
2017
Volume38Issue:8Pages:1309-1315
Indexed ByEI ; CSCD
EI Accession number20174204272290
CSCD IDCSCD:6051979
Contribution Rank1
Funding Organization国家自然科学基金项目(51409047,61273334) ; 机器人学国家重点实验室开放基金项目(2016-O05)
Keyword自主水下机器人 加权多模型切换控制 共同lyapunov函数 垂直面控制模型 纵倾角控制模型 切换系统
Abstract自主水下机器人(autonomous underwater vehicle,AUV)系统垂直面运动状态间具有强耦合性、非线性等特点导致AUV系统垂直面难以实现精确控制。另外,AUV系统纵倾角需控制在某一阈值内,以避免AUV系统在运动过程中出现深度/高度超调甚至造成不良后果。根据AUV系统在垂直面不同控制要求下的运动特点,提出将垂直面运动模型解耦为深度控制模型与纵倾角控制模型,构建AUV系统垂直面动力学模型集,然后,根据模型集所含子模型特点采取对应控制策略。由于各子模型切换前后系统状态变量和维数发生变化,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据-共同Lyapunov函数法,提出...
Other AbstractThe vertical plane control of Autonomous Underwater Vehicle (AUV) is very important but very complex. AUV system is coupled system. Moreover, the pitch angle which is one of state variable of the vertical plane control should not be beyond the some limitation, or else AUV system might meet with some damage issues. Two mathematical sub-models (called depth control model and pitch angle control model) combine a model set to describe the vertical plane motions of AUV. To avoid the chattering because of switching between the two sub-models, some switching control laws are deduced and proved by common Lyapunov function which is the stability theory for switched system. By some lake trials for the vertical plane of one kind of AUV, these deduced laws are performed to valuate the functions of these laws which can ensure the stability of the multi-model switching. And results of lake trials show that the control performances especially dynamical performances of the AUV system are improved.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20732
Collection水下机器人研究室
Corresponding Author周焕银
Affiliation1.东华理工大学机械与电子工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
周焕银,李一平,刘开周,等. 基于AUV垂直面运动控制的状态增减多模型切换[J]. 哈尔滨工程大学学报,2017,38(8):1309-1315.
APA 周焕银,李一平,刘开周,&封锡盛.(2017).基于AUV垂直面运动控制的状态增减多模型切换.哈尔滨工程大学学报,38(8),1309-1315.
MLA 周焕银,et al."基于AUV垂直面运动控制的状态增减多模型切换".哈尔滨工程大学学报 38.8(2017):1309-1315.
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