自主水下车辆的等级RL-ESN控制:6-DOF大角度旋转机动
Zihan Xia1, Bing Huang1, Cheng Zhu1
1School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, China.
ISA transactions
|August 6, 2025
概括
本研究引入了一种新的无模型控制方案,用于自动水下车辆 (AUV) 执行大角度旋转. 新方法通过独一无二地表示态度和估计系统参数来提高稳定性和跟踪性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 海洋工程 海洋工程
背景情况:
- 使用欧勒角和单位四次数的自主水下车辆 (AUV) 的传统态度表示在大角度机动方面存在局限性,导致奇点和解.
- 这些限制阻碍了在六度自由度 (6-DOF) 中复杂的旋转运动期间的精确控制.
研究的目的:
- 开发一个无模型的跟踪控制方案,使AUV能够在6-DOF中执行任意的大角度旋转机动.
- 克服现有的态度表示的局限性,提高系统的稳定性和跟踪准确性.
主要方法:
- 构建了一个基于旋转矩阵的错误动态,以实现全球独特的态度表示.
- 开发了一个替代的错误度量来将态度错误从SO(3) 转换为欧几里德空间,简化了控制器设计.
- 采用层次的回声状态网络 (ESN) 来估计水力动力系数和执行器故障.
- 利用协作批评网络 (CCN) 提供强化信号,以改善ESN学习.
主要成果:
- 实现了全球独特的态度表示,避免奇点和解现象.
- 通过使用层级ESN和CCN成功估计了水力动力系数和执行器故障.
- 通过理论分析和模拟,显著提高了系统稳定性和高跟踪性能.
结论:
- 拟议的无模型跟踪控制方案有效地解决了AUV中大角度旋转的挑战.
- 新型的态度误差计和层次估计网络为AUV态度控制提供了一种优越的方法.
- 该方法为复杂的水下车辆机动提供了强大而高性能的解决方案.
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