[1]李明,李铜桥.基于非奇异终端滑模的欠驱动UUV航迹跟踪控制[J].应用科技,2018,45(02):11-16.[doi:10.11991/yykj.201704015]
 LI Ming,LI Tongqiao.Path-following control for an underactuated UUV based on non-singular terminal sliding mode[J].Applied science and technology,2018,45(02):11-16.[doi:10.11991/yykj.201704015]
点击复制

基于非奇异终端滑模的欠驱动UUV航迹跟踪控制(/HTML)
分享到:

《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第45卷
期数:
2018年02期
页码:
11-16
栏目:
船舶与海洋工程
出版日期:
2018-03-15

文章信息/Info

Title:
Path-following control for an underactuated UUV based on non-singular terminal sliding mode
作者:
李明1 李铜桥2
1. 海军驻锦州地区军代表室, 辽宁 锦州 121000;
2. 海军驻426厂军事代表室, 辽宁 大连 116005
Author(s):
LI Ming1 LI Tongqiao2
1. Representative Office of Navy in Jinzhou, Jinzhou 121000, China;
2. Representative Office of Navy at Dalian 426 Factory, Dalian 116005, China
关键词:
欠驱动UUV航迹跟踪航迹点视线法Serret-Frenet坐标系非奇异终端滑模模型参数摄动全局有限时间稳定
Keywords:
underactuated UUVpath-followingway-pointLOSSerret-Frenet coordinate systemnon-singular terminal sliding modeparameter perturbationglobally finite-time stable
分类号:
TP24
DOI:
10.11991/yykj.201704015
文献标志码:
A
摘要:
针对欠驱动UUV在模型参数数摄动以及未知恒定海流(对控制器而言)干扰下的水平面直线航迹跟踪控制问题,提出了一种基于非奇异终端滑模的航迹跟踪控制控制策略。首先,利用离散航迹点,规划出期望航迹;然后,基于视线法(LOS)以及Serret-Frenet坐标系,建立起航迹跟踪制导律;进而,将航迹跟踪控制问题转化为航向角的镇定问题。利用非奇异终端滑模控制方法,设计出全局有限时间收敛的动力学控制器。仿真实验结果表明:该跟踪控制策略可以精确地执行水平面直线航迹跟踪任务;对于模型参数摄动以及未知恒定海流,所设计的控制策略具有强鲁棒性。
Abstract:
For the path-following control of an underactuated unmanned underwater vehicle (UUV) in horizontal straight line under the conditions of parameter perturbation and unknown constant ocean current (for a controller), a path-following control strategy based on non-singular terminal sliding mode was proposed. Firstly, the desired path is planned by using the discrete way-points; then the path-following guidance law is established on basis of line-of-sight (LOS) and Serret-Frenet coordinate system; furthermore, the path-following problem is converted to stabilization of the yaw angle. The globally finite-time convergent dynamic controller was designed by using the non-singular terminal sliding mode control method. The simulation results show that, this control strategy can precisely execute the path following in horizontal straight line; for perturbation of model parameter and unknown constant ocean current, the proposed control strategy has a powerful robustness.

参考文献/References:

[1] 陈强. 水下无人航行器[M]. 北京:国防工业出版社, 2014:1-43.
[2] 钱东, 唐献平, 赵江. UUV技术发展与系统设计综述[J]. 鱼雷技术, 2014, 22(6):401-414, 419.
[3] 周佳加, 严浙平, 贾鹤鸣, 等. 改进规则下自适应神经网络的UUV水平面路径跟随控制[J]. 中南大学学报:自然科学版, 2014, 45(9):3021-3028.
[4] 王芳, 万磊, 李晔, 等. 欠驱动AUV的运动控制技术综述[J]. 中国造船, 2010, 51(2):227-241.
[5] 王奎民. 主要海洋环境因素对水下航行器航行影响分析[J]. 智能系统学报, 2015, 10(2):316-323.
[6] 李颀, 石秀华, 康智强. 基于灰色预测的AUV水平面轨迹跟踪控制研究[J]. 西安工业大学学报, 2012, 32(5):384-387.
[7] LAPIERRE L, JOUVENCEL B. Robust nonlinear path-following control of an AUV[J]. IEEE journal of oceanic engineering, 2008, 33(2):89-102.
[8] 施淑伟, 严卫生, 高剑, 等. 常值海流作用下的AUV水平面路径跟踪控制[J]. 兵工学报, 2010, 31(3):375-379.
[9] 苏玉民, 曹建, 徐峰, 等. 鱼雷形水下机器人非线性航迹跟踪控制[J]. 上海交通大学学报, 2012, 46(6):977-983.
[10] 王璐, 张利军, 王红滨, 等. 非线性迭代滑模的欠驱动AUV路径跟踪控制[J]. 计算机工程与应用, 2011, 47(27):239-242.
[11] 夏国清, 杨莹, 赵为光. 欠驱动AUV模糊神经网络L2增益鲁棒跟踪控制[J]. 控制与决策, 2013, 28(3):351-356.
[12] 李殿璞. 船舶运动与建模[M]. 2版. 哈尔滨:哈尔滨工程大学出版社, 2008:154-190.
[13] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. West Sussex, UK:John Wiley & Sons Ltd, 2011:59-186, 221-225.
[14] 张袅娜. 终端滑模控制理论及应用[M]. 北京:科学出版社, 2011:1-18.
[15] FENG Yong, YU Xinghuo, MAN Zhihong. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatica, 2002, 38(12):2159-2167.
[16] HUANG Xianqing, LIN Wei, YANG Bo. Global finite-time stabilization of a class of uncertain nonlinear systems[J]. Automatica, 2005, 41(5):881-888.
[17] PETTERSEN K Y, EGELAND O. Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle[J]. IEEE transactions on automatic control, 1999, 44(1):112-115.

相似文献/References:

[1]韩鹏,刘志林,周泽才,等.基于LOS法的自航模航迹跟踪控制算法实现[J].应用科技,2018,45(03):66.[doi:10.11991/yykj.201706005]
 HAN Peng,LIU Zhilin,ZHOU Zecai,et al.Path tracking control algorithm based on LOS method for surface self-propulsion vessel[J].Applied science and technology,2018,45(02):66.[doi:10.11991/yykj.201706005]

备注/Memo

备注/Memo:
收稿日期:2017-04-26。
基金项目:国家自然科学基金项目(51679057)
作者简介:李明(1971-),男,高级工程师
通讯作者:李铜桥,E-mail:litongqiao@126.com
更新日期/Last Update: 2018-04-09