摘要
欠驱动式水下剖面监测机器人要实现对预定剖面轨迹航路点的跟踪观测,其航路点的轨迹跟踪控制技术是实现高精度剖面观测的关键。研究思路为:首先采用物理建模和实验验证方式对水下机器人进行动力学建模;其次通过设计分布式控制器A和控制器B以及两者之间的通信协议,实现对通信时延的实时计算;然后通过扰动前馈和逐次逼近转换方法,设计能有效抑制脐带缆等外扰动并解决通信网络时延的网络化前馈-反馈最优轨迹跟踪控制方法。其中为实现平滑控制通过设置跟踪误差阈值和控制切换面,设计一种能实现无抖振航路点轨迹跟踪的分段复合有限时间跟踪控制方法。研究步骤为机器人动力学建模、前馈-反馈最优跟踪控制和分段复合有限时间跟踪控制算法设计以及控制方法的仿真和实验验证,分步进行并验证设计方法的有效性,为欠驱动式水下剖面监测机器人的轨迹跟踪控制技术提供理论依据。
Under-actuated underwater profile monitoring vehicle can achieve the observations on apredetermined profile waypoint trajectory, the trajectory-tracking controltechnology is the key technology to achieve high-precision profile observations.The controller A, controller B and their communication protocol will be designedto calculate the real-time time delay; using physical modeling and experimentalverification to establish the dynamics model of the underwater vehicle; byconstructing a feedforward control and using delay-free transformation, we designa networked feed-forward and feedback optimal trajectory-tracking control methodconsidering the external disturbances rejection and communication time delay. Tocarry out the smooth control, we construct a tracking error threshold and aswitching surface to design a free-chattering segmented compound control methodfor quick trajectory-tracking. The detailed steps are dynamics modeling,feed-forward and feedback optimal tracking control design, multistage finite-timetracking control design, simulations and experimental verification of the controlmethods. We verify the effectiveness of the proposed methods step by step. The control scheme provides a theory basis for trajectory-tracking control technologyof underwater profile monitoring vehicle.
出处
《科学与管理》
2016年第1期38-47,共10页
Science and Management
基金
山东省自然科学基金(ZR2012FL18)
青岛科技发展计划(13-1-4-172-jch)
山东省海洋生态环境与防灾减灾重点实验室开放课题(201308)
山东省科学院博士基金(201244)
关键词
欠驱动式
水下剖面监测机器人
轨迹跟踪
有限时间跟踪控制
Under-actuated
Underwater profile monitoring vehicle
Trajectory-tracking control
Finite-time tracking control
