| 基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制 |
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| 引用本文： | 黄道敏,徐瑞昆,唐国元,冯雷,刘智,徐国华.基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制[J].海洋工程,2018,36(6):69-76. |
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| 作者姓名： | 黄道敏 徐瑞昆 唐国元 冯雷 刘智 徐国华 |
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| 作者单位： | 华中科技大学 船舶与海洋工程学院，湖北 武汉 430074;
武汉空军预警学院，湖北 武汉 430010;,武汉空军预警学院，湖北 武汉 430010;,武汉空军预警学院，湖北 武汉 430010;,武汉第二船舶设计研究所，湖北 武汉 430064,武汉第二船舶设计研究所，湖北 武汉 430064,武汉空军预警学院，湖北 武汉 430010; |
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| 基金项目： | 中央高校基本科研业务费专项资金资助（2018KFYYXJJ012）；湖北省自然科学基金（2016CFB305）；海洋防务技术创新中心创新基金资助 |
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| 摘 要： | 基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。
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| 关 键 词： | 分布式 控制力矩陀螺 水下航行器 轨迹跟踪控制 路径规划 反步法 |
Trajectory tracking control of underwater vehicle based on distributed control moment gyros |
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| HUANG Daomin,XU Ruikun,TANG Guoyuan,FENG Lei,LIU Zhi and XU Guohua.Trajectory tracking control of underwater vehicle based on distributed control moment gyros[J].Ocean Engineering,2018,36(6):69-76. |
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| Authors: | HUANG Daomin XU Ruikun TANG Guoyuan FENG Lei LIU Zhi and XU Guohua |
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| Institution: | School of Naval Architeture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;
Air Force Early-Warning Academy, Wuhan 430064, China;,School of Naval Architeture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;,School of Naval Architeture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;,Wuhan Second Ship Design and Research Institute, Wuhan 430064, China,Wuhan Second Ship Design and Research Institute, Wuhan 430064, China and School of Naval Architeture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China; |
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| Abstract: | The underwater vehicle equipped with control moment gyros (CMGs) has the capability to maneuver at a low or zero speed. The scheme of an underwater vehicle based on the distributed CMGs is adopted, and its trajectory tracking control problem is considered in the horizontal plane. A global diffeomorphism transformation is used to decouple the incomplete symmetry dynamic model to the normal underactuated control model, and then the trajectory tracking error dynamic model, built based on the simplified model, is employed to transform the trajectory tracking control problem into the stabilization problem of the error system. Based on a shunting neural dynamic model and backstepping techniques, the trajectory tracking control law is developed without any derivative calculations of virtual control inputs and can guarantee the tracking errors to be semi-globally uniformly bounded. Finally, simulation results illustrate the performance and effectiveness of the proposed controller, which is capable of tracking smooth trajectories with no prior knowledge of the dynamic parameter. |
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| Keywords: | distributed style control moment gyros underwater vehicle trajectory tracking control path planning backstepping |
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