实时HILS验证的AUV无模型控制,使用时间延迟自适应模糊非单元快速终端滑动模式控制
Seongjun Yoo1, Hyuntae Bang1, Wonkeun Youn1
1Department of Autonomous Vehicle System Engineering, Chungnam National University, Daehak-Ro 99, Daejeon, 34134, the Republic of Korea.
ISA transactions
|January 9, 2026
概括
本研究引入了自主水下车辆 (AUV) 适应性模糊非单元快速终端滑动模式控制 (AFNFTSMC) 与时间延迟控制 (TDC). 这种新的方法提高了跟踪和稳定性,确保了稳定性和有限时间的融合.
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
- 海洋技术 海洋技术
背景情况:
- 自主水下车辆 (AUV) 需要在动态环境中进行强大的导航和任务执行控制.
- 传统的滑动模式控制方法往往会受到聊天和模型依赖的影响.
- 时间延迟控制 (TDC) 提供无模型干扰排斥,而非单元快速终端滑动模式控制 (NFTSMC) 提供快速收和避免奇点.
研究的目的:
- 开发一种新的自适应性模糊非单元快速终端滑动模式控制 (AFNFTSMC),与AUV的时延控制 (TDC) 集成.
- 提高AUV的稳定性和跟踪性能,以应对非线性动力学和外部干扰.
- 确保控制系统的全球稳定性和有限时间的融合.
主要方法:
- 集成时间延迟控制 (TDC) 以实时估计和补偿系统不确定性和干扰,而不需要准确的模型.
- 实施适应性模糊逻辑系统,以减轻滑动模式控制中常见的喋喋不休现象,确保流的控制输入.
- 应用利亚普诺夫稳定理论,严格证明拟议的AFNFTSMC-TDC方案的全球稳定性和有限时间收性质.
主要成果:
- 与传统方法相比,拟议的AFNFTSMC-TDC控制器显示了增强的稳定性和优越的跟踪性能.
- 集成的模糊逻辑系统有效地抑制了控制信号的喋喋不休,从而使AUV运动更加平稳.
- 使用Delphin2 AUV模型进行的数值模拟证实了控制器在处理外部干扰和实现有限时间融合方面的有效性.
结论:
- 新型AFNFTSMC-TDC方案为AUV的强大和精确控制提供了有效的解决方案.
- 控制器的无模型性质和适应能力使其适用于现实世界AUV应用,环境条件不可预测.
- 经过验证的稳定性和性能突出显示了这种控制策略在推进AUV自主性的潜力.
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