本文選題：自主水下機器人 + 加權多模型切換控制��； 參考：《哈爾濱工程大學學報》2017年08期

【摘要】：自主水下機器人(autonomous underwater vehicle,AUV)系統(tǒng)垂直面運動具有強耦合性、非線性等特點導致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,以保證系統(tǒng)安全。根據(jù)以上控制要求與AUV垂直面運動模型特點,提出將其解耦為深度控制子模型與縱傾角控制子模型,構建AUV系統(tǒng)垂直面運動控制模型集,根據(jù)模型集所含兩子模型特點,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,提出了變加權多模型切換策略,實現(xiàn)了切換過程的穩(wěn)定性,避免了切換過程的抖動問題。多次湖泊試驗證明,加權多模型切換策略避免了由于期望深度變化而造成的執(zhí)行機構飽和、深度和縱傾角超調量過大等問題,且改善了AUV系統(tǒng)深度運動的靜動態(tài)控制品質。
[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】： 東華理工大學機械與電子工程學院;中國科學院沈陽自動化研究所機器人學國家重點實驗室;
【基金】：國家自然科學基金項目(51409047) 機器人學國家重點實驗室開放基金項目(2016-O05)
【分類號】：TP242
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本文編號：1853103