本文選題：自主水下機(jī)器人 + 加權(quán)多模型切換控制��； 參考：《哈爾濱工程大學(xué)學(xué)報(bào)》2017年08期

【摘要】：自主水下機(jī)器人(autonomous underwater vehicle,AUV)系統(tǒng)垂直面運(yùn)動(dòng)具有強(qiáng)耦合性、非線性等特點(diǎn)導(dǎo)致AUV系統(tǒng)垂直面難以精確控制,且其縱傾角需控制在某一閾值內(nèi),以保證系統(tǒng)安全。根據(jù)以上控制要求與AUV垂直面運(yùn)動(dòng)模型特點(diǎn),提出將其解耦為深度控制子模型與縱傾角控制子模型,構(gòu)建AUV系統(tǒng)垂直面運(yùn)動(dòng)控制模型集,根據(jù)模型集所含兩子模型特點(diǎn),提出了狀態(tài)變量增減的多模型切換的概念�；谇袚Q系統(tǒng)穩(wěn)定判據(jù)——共同Lyapunov函數(shù)法,提出了變加權(quán)多模型切換策略,實(shí)現(xiàn)了切換過程的穩(wěn)定性,避免了切換過程的抖動(dòng)問題。多次湖泊試驗(yàn)證明,加權(quán)多模型切換策略避免了由于期望深度變化而造成的執(zhí)行機(jī)構(gòu)飽和、深度和縱傾角超調(diào)量過大等問題,且改善了AUV系統(tǒng)深度運(yùn)動(dòng)的靜動(dòng)態(tài)控制品質(zhì)。
[Abstract]:The vertical plane motion of the autonomous underwater vehicle ( AUVs ) system has strong coupling and non - linearity , which leads to the difficulty of precise control of the vertical plane of the AUVs system , and the vertical inclination of the AUVs is controlled within a certain threshold to ensure the safety of the system . According to the above control requirements and the characteristics of the vertical plane motion model of the AUVs , this paper puts forward the concept of multi - model switching with variable weighted multi - model . Based on the stability criterion of the switching system and the common Lyapunov function method , this paper proposes a variable - weighted multi - model switching strategy , which avoids the problems of saturation , depth and pitch of the actuator due to the change of the expected depth , and improves the static and dynamic control quality of the deep motion of the AUVs system .

【作者單位】： 東華理工大學(xué)機(jī)械與電子工程學(xué)院;中國科學(xué)院沈陽自動(dòng)化研究所機(jī)器人學(xué)國家重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家自然科學(xué)基金項(xiàng)目(51409047) 機(jī)器人學(xué)國家重點(diǎn)實(shí)驗(yàn)室開放基金項(xiàng)目(2016-O05)
【分類號(hào)】：TP242
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本文編號(hào)：1853103