基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制

doi:10.3969/j.issn.1000-1093.2016.03.012

兵工学报 ›› 2016, Vol. 37 ›› Issue (3): 471-481.doi: 10.3969/j.issn.1000-1093.2016.03.012

基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制

董早鹏^1,2，万磊^1,2，孙玉山^1,2，刘涛¹，李岳明^1,2，张国成^1,2

（1.哈尔滨工程大学水下机器人技术重点实验室黑龙江哈尔滨 150001;

收稿日期:2015-07-29 修回日期:2015-07-29 上线日期:2016-05-24
通讯作者: 董早鹏 E-mail:dongzaopeng@hrbeu.edu.cn
作者简介:董早鹏(1988—)男博士研究生
基金资助:
国家“863”计划项目（2012AA09A304）；国家自然科学基金项目（51409054、51409059、51409061、51509057）

Trajectory Tracking Control of an Underactuated Unmanned Marine Vehicle Based on Asymmetric Model

DONG Zao-peng^1,2， WAN Lei^1,2， SUN Yu-shan^1,2， LIU Tao¹， LI Yue-ming^1,2， ZHANG Guo-cheng^1,2

(1.Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,2.College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang, China)

Received:2015-07-29 Revised:2015-07-29 Online:2016-05-24
Contact: DONG Zao-peng E-mail:dongzaopeng@hrbeu.edu.cn

摘要/Abstract

摘要： 研究一类欠驱动无人海洋运载器（UMV）的轨迹跟踪控制问题，提出了一种基于非对称模型的积分反步控制方法。建立了非完全对称（左右对称、前后不对称）的欠驱动UMV水平面运动模型，考虑了系统阻尼系数矩阵和惯性系数矩阵非对角线元素存在非零项的问题；通过设计虚拟状态和控制输入反馈变换，解决了UMV轨迹跟踪控制过程中存在的角速度持续激励问题，得到了直线轨迹和曲线轨迹通用的跟踪控制器；在轨迹跟踪控制器当中引入跟踪误差的积分项，提高了UMV系统的全局稳定收敛速度，基于Barbalat引理和Lyapunov稳定性理论分析了系统的稳定性。借助实验室半物理仿真平台进行仿真实验，与传统基于对称模型的控制算法对比，体现出了基于非对称模型的欠驱动UMV轨迹跟踪控制方法的优越性。

关键词: 〖JP3〗控制科学与技术, 无人海洋运载器, 非对称模型, 欠驱动控制, 轨迹跟踪, 积分反步法〖JP〗

Abstract: Trajectory tracking control problem of an underactuated unmanned marine vehicle (UMV) is addressed, and an integral backstepping control method based on asymmetric model is proposed. A horizontal motion model of incomplete symmetry underactuated UMV with port/starboard symmetry and without fore/aft symmetry is established, in which the off-diagonal elements of damping coefficient matrix and inertia coefficient matrix are considered to be non-zero. A feedback transformation of virtual state and control input is designed to relax the well-known persistent exciting conditions of yaw velocity in trajectory tracking control of UMV, and then a general trajectory tracking controller for both straight line path and curve path is obtained. The global stable convergence rate of UMV system is improved by introducing an integral item of tracking errors into trajectory tracking controller. The stability of the system is proved by Lyapunov theory and Barbalat’s lemma. With the help of the semi physical simulation platform, the advantages of the asymmetric model-based underactuated UMV trajectory tracking control method proposed in this paper is demonstrated in simulation experiments by comparing with the traditional symmetric model-based method.

Key words: control science and technology, unmanned marine vehicle, asymmetric model, underactuated control, trajectory tracking, integral backstepping method

中图分类号:

TP273

董早鹏，万磊，孙玉山，刘涛，李岳明，张国成. 基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制[J]. 兵工学报, 2016, 37(3): 471-481.

DONG Zao-peng， WAN Lei， SUN Yu-shan， LIU Tao， LI Yue-ming， ZHANG Guo-cheng. Trajectory Tracking Control of an Underactuated Unmanned Marine Vehicle Based on Asymmetric Model[J]. Acta Armamentarii, 2016, 37(3): 471-481.

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基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制

Trajectory Tracking Control of an Underactuated Unmanned Marine Vehicle Based on Asymmetric Model

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