通过单一扰动和相互连接系统技术,通过输出反路径控制低调的AUV
Tiedong Zhang1, Ming Lei2, Dapeng Jiang1
1School of Ocean Engineering and Technology, Sun Yat-Sen University, Zhuhai 519082, China; Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519082, China; Key Laboratory of Comprehensive Observation of Polar Environment (Sun Yat-sen University), Ministry of Education, Zhuhai 519082, China.
ISA transactions
|June 21, 2024
概括
这项研究引入了一种新的控制方法,使未经调节的自动水下车辆能够准确地遵循路径. 该方法使用观察员来处理不确定性和未测速,改善车辆控制.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 自动水下车辆 (AUV) 是一种自动驾驶的水下车辆.
- 非线性控制理论 不线性控制理论
背景情况:
- 由于不确定性和未测量的速度,对未精确的AUV的路径控制具有挑战性.
- 现有的方法往往依赖于精确的动力学模型,限制了它们的适用性.
- 对于实际的AUV应用来说,需要输出反控制.
研究的目的:
- 开发出输出反控制策略,用于跟踪低值AUV的路径.
- 为了解决AUV垂直平面动态中的不确定性和未测速.
- 为了提高AUV路径跟踪控制的稳定性和准确性.
主要方法:
- 一个新的扩展状态观测器 (ESO) 被提议用于估计一次性干扰和未测量的速度.
- 设计了一个基于干扰观察者的稳定控制器,集成后退和时间尺度分解.
- 单元扰动理论是用来分析相互连接的系统动态在快速和慢速模式.
主要成果:
- ESO有效地估计了未测量的速度和干扰.
- 拟议的控制器确保了尽管系统的不确定性,可靠的路径遵循.
- 稳定性分析证实了闭环系统的整体稳定性.
- 模拟演示了该方法对AUV在垂直平面上遵循路径的有效性.
结论:
- 开发的输出反控制策略增强了未精确的AUV的路径追踪能力.
- 集成ESO和后退控制为不确定的AUV动态提供了一个强大的解决方案.
- 拟议的方法为现实世界AUV导航和控制提供了一个有希望的方法.
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