摘要
针对欠驱动自主水下机器人(AUV)水平面路径跟踪控制问题进行研究。基于解析形式描述的单输入模糊控制器,提出了一种混合模糊P+ID控制算法。将其应用于欠驱动AUV路径跟踪控制中的趋近角跟踪控制,研究了控制器设计和参数调节方法,并采用小增益定理对基于混合模糊P+ID控制的趋近角跟踪控制系统的稳定性进行了分析。最后,采用欠驱动AUV非线性动力学模型进行仿真研究,结果表明基于提出的混合模糊P+ID控制的欠驱动AUV路径跟踪控制系统具有很好的鲁棒性和适应性,AUV能够精确跟踪预规划的航行路径。
The issue of 2D path-following control of underactuated autonomous underwater vehicles was studied.Based on single-input fuzzy controller expressed in analytical form,a hybrid fuzzy P plus ID control algorithm was proposed.And its application to the tracking control of path-following approach angle was investigated.The design and parameter tuning of the tracking controller was studied,and the stability of the tracking control system based on the proposed hybrid fuzzy P plus ID control algorithm was analyzed using small gain theorem.At last,simulation studies using the nonlinear dynamic model of an underactuated AUV were implemented,and the results demonstrate the robustness and adaptability of the hybrid fuzzy P plus ID based path-following control system,and the AUV can follow the predefined path precisely.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2012年第5期1016-1020,1025,共6页
Journal of System Simulation
基金
国家863高技术研究发展计划(2007AA09Z207)
机器人学国家重点实验室课题(08A120N201
RLZ200810)
关键词
自主水下机器人
欠驱动
路径跟踪控制
混合模糊P+ID控制
autonomous underwater vehicles
underactuated
path-following control
hybrid fuzzy P plus ID control
