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基于LPV模型的水面机器人鲁棒航向控制
Alternative TitleLPV Model Based Robust Heading Control of an Unmanned Surface Vehicle
熊俊峰1,2; 何玉庆1; 韩建达1; 苑明哲1,2
Department广州中国科学院沈阳自动化研究所分所
Source Publication系统仿真学报
ISSN1004-731X
2020
Volume32Issue:8Pages:1598-1605
Indexed ByCSCD
CSCD IDCSCD:6775929
Contribution Rank1
Funding Organization广州市科技计划(201802020031)
Keyword水面机器人 水动力学建模 线性变参系统 扰动抑制 航向保持控制
Abstract

针对水面机器人水动力学的强非线性,并且容易受到风、浪与水流干扰的影响,提出了一种基于LPV(Linear Parameter Varying)模型的H_(∞)鲁棒航向保持控制器。其中LPV模型采用Froude数作为线性变参,用来反映水面机器人水动力学随Froude数变化的非线性特性,同时简化模型参数辨识与控制器设计。在此基础上,将Froude数作为调度变量,采用介实引理设计了H_(∞)鲁棒航向保持控制器,用来抑制扰动对控制器的影响。最后,在3自由度欠驱动水面机器人仿真平台上进行了验证,证明了控制器的有效性与鲁棒性。

Other Abstract

To solve the problems of strong nonlinearities of hydrodynamics, and the influences of wind, wave and current on USVs (Unmanned Surface Vehicles), an H∞ robust yaw keeping controller based on LPV (Linear Parameter Varying) model is proposed. The LPV model uses the Froude number as the varying parameter, and can reflect the USV’s nonlinear hydrodynamics along with the Froude number. Meanwhile, parameters identification and controller design can be simplified by using the varying parameter. Then, by using the Froude number as the scheduled parameter, an H∞ robust yaw keeping controller is designed by using bounded real lemmas to attenuate the disturbances. Finally, simulations are carried out on a 3-DOF underactuated USV simulation platform to verify the effectiveness and robustness of the proposed controller.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26648
Collection广州中国科学院沈阳自动化研究所分所
Corresponding Author熊俊峰
Affiliation1.中国科学院沈阳自动化研究所
2.广州中国科学院沈阳自动化研究所分所院士专家工作站
Recommended Citation
GB/T 7714
熊俊峰,何玉庆,韩建达,等. 基于LPV模型的水面机器人鲁棒航向控制[J]. 系统仿真学报,2020,32(8):1598-1605.
APA 熊俊峰,何玉庆,韩建达,&苑明哲.(2020).基于LPV模型的水面机器人鲁棒航向控制.系统仿真学报,32(8),1598-1605.
MLA 熊俊峰,et al."基于LPV模型的水面机器人鲁棒航向控制".系统仿真学报 32.8(2020):1598-1605.
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