摘要
为了实现水下机器人带有剩余浮力影响的欠驱动深度控制,将垂直面控制划分为定速航行控制和深度控制.采用成熟的S面速度控制器保证速度控制稳定,着重解决深度控制问题.引入虚拟控制量,使剩余浮力影响下的深度偏差映射为目标纵倾角,通过设计俯仰控制器实现对目标纵倾角的跟踪.稳定性分析表明,所研究的欠驱动深度控制是稳定的,且对于参数估计的偏差不敏感.仿真实验结果表明,所提出的方法能够抵抗剩余浮力的影响,深度控制准确,并具有良好的鲁棒性.
Aiming at the vertical plane motion control of autonomous underwater vehicle（AUV） with the influence of residual buoyancy, the vertical motion plane control is divided into forward speed control and depth control. Adopting the mature S plane controller to ensure the stability of speed control, the problem of depth control is selectively solved. By introducing the virtual control, the depth deviation with the influence of residual buoyancy is mapped into the desired pitch angle, which is tracked through the design of pitching controller. The stability analysis shows that the proposed underacuated depth control is stable and robust for the variation of parameter estimation. Finally, the simulation results show that the proposed method is resistible for the influence of residual buoyancy, and the depth control is accurate and robust.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第11期1741-1744,1750,共5页
Control and Decision
基金
国家863计划项目(2008AA092301-2)
中央高校基本科研业务费专项基金项目(HEUCF1321005)
中国博士后科学基金项目(20100480964)
关键词
水下机器人
欠驱动控制
深度控制
S面控制
autonomous underwater vehicle~ underactuated control： depth control~ S plane control
