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 喷水推进式水面机器人H_∞鲁棒航向跟踪控制 Alternative Title Robust H1 yaw tracking control of a water-jet propulsion unmanned surface vehicle 熊俊峰1,2,3; 李德才1; 何玉庆1,3; 韩建达1 Department 机器人学研究室 Source Publication 控制理论与应用 ISSN 1000-8152 2019 Volume 36Issue:2Pages:165-174 Indexed By EI ; CSCD EI Accession number 20191806847981 CSCD ID CSCD:6457189 Contribution Rank 1 Funding Organization 国家自然科学基金项目(61473282) ; 广东省科技计划项目(2017B010116002) ; 辽宁省自然科学基金项目(u1608253) Keyword 水面机器人 动力学建模 参数辨识 H_∞鲁棒控制 航向跟踪 Abstract 针对水面机器人(unmanned surface vehicle, USV)航向跟踪容易受到风、浪与水流干扰影响的问题,提出了一种基于线性变参(linear parameter varying, LPV)模型的H_∞鲁棒航向跟踪控制器.首先从水动力学机理出发,提出了基于速度变参的LPV模型.然后基于提出的速度变参LPV模型,利用线性矩阵不等式设计了USV的H_∞鲁棒航向控制器,用以抵抗风、浪与水流对机器人的影响.最后,在自主研发的3自由度欠驱动喷水推进式USV平台上进行了实验.实验结果表明,控制器可以实现鲁棒的航向跟踪控制. Other Abstract To solve the problem that the yaw tracking control of unmanned surface vehicle (USV) is easily influenced by wind, wave, and current, H1 robust yaw tracking controller based on linear parameter varying (LPV) model is proposed. Firstly, a speed scheduled LPV model is constructed by considering the hydrodynamic mechanism. Then, based on the proposed speed scheduled LPV model, linear matrix inequality is used to design the H-infinity robust yaw tracking controller of the USV to attenuate the disturbances of wind, wave and current. Finally, experiments are carried out on a self-developed 3-degrees-of-freedom under-actuated water-jet propulsion USV. The experimental results show that robust yaw tracking is achieved by using the proposed controller. Language 中文 Citation statistics Document Type 期刊论文 Identifier http://ir.sia.cn/handle/173321/24584 Collection 机器人学研究室 Corresponding Author 何玉庆 Affiliation 1.中国科学院沈阳自动化研究所2.中国科学院大学3.广州中国科学院沈阳自动化研究所分所 Recommended CitationGB/T 7714 熊俊峰,李德才,何玉庆,等. 喷水推进式水面机器人H_∞鲁棒航向跟踪控制[J]. 控制理论与应用,2019,36(2):165-174. APA 熊俊峰,李德才,何玉庆,&韩建达.(2019).喷水推进式水面机器人H_∞鲁棒航向跟踪控制.控制理论与应用,36(2),165-174. MLA 熊俊峰,et al."喷水推进式水面机器人H_∞鲁棒航向跟踪控制".控制理论与应用 36.2(2019):165-174.
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