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水下滑翔机的节能途径跟踪:理论和实验结果

Anyan Jing, Jian Gao, Boxu Min

IEEE transactions on cybernetics

|July 22, 2025

概括

一种新的控制方法通过提高能源效率来增强水下滑翔机路标跟踪. 这种方法使用了新的死亡计算和事件触发控制,以提高性能和降低功耗.

科学领域:

机器人和控制系统机器人和控制系统
海洋工程海洋工程
自主水下车辆自主水下车辆

背景情况:

水下滑翔机对于海洋研究至关重要,但在能源效率和精确的途径点跟踪方面面临挑战.
现有的控制方法经常与动态的海流和有限的电力预算作斗争.

研究的目的:

设计一种新的,节能的控制方法,用于水下滑翔机的路点跟踪.
为了提高水下滑翔机导航的精度和降低能源消耗.

主要方法:

一个双层控制架构:一个规划层和一个控制层.
规划层结合了基于稳定/不稳定的滑翔深度间隔的死亡计算,用于当前速度预测,以及用于途径点跟踪的视线策略.
控制层使用事件触发的扩展状态观察器 (ET-ESO) 和事件触发的倒退方向控制器 (ET-BHC) 进行方向控制.

主要成果:

拟议的方法使水下滑翔机 (UGs) 能够有效地追踪路点.
通过模拟和海上试验证明了能源效率的显著改善.
事件触发的观察员和控制器减少了计算负载和能源消耗.

结论:

这种新的节能控制方法成功实现了水下滑翔机的途径点跟踪.
事件触发机制的集成提高了系统性能,节约了能源.
这种方法为延长自主水下车辆的运行耐久性提供了一个有希望的解决方案.

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