哈尔滨工程大学学报2017，Vol.38Issue(8)：1309-1315,7.DOI:10.3969/j.issn.1006-7043.201607021
基于AUV垂直面运动控制的状态增减多模型切换
Multi-model switching control laws for the vertical plane control of an autonomous underwater vehicle
摘要
Abstract
System vertical plane motion states have strong coupling and nonlinear characteristics, thereby making precise vertical plane control of an autonomous underwater vehicle (AUV) system difficult.Moreover, the pitch angle, which is one of the state variables of vertical plane control, should not exceed a threshold;otherwise, the AUV system might encounter damage issues, such as deep/over control and even more serious situations.In accordance with the motion characteristics of an AUV system with different control requirements on a vertical plane, the vertical plane motion model was decoupled into two mathematical sub-models (depth control model and pitch angle control model) to build the vertical plane dynamic model set of an AUV system.A corresponding control strategy was adopted according to the sub-model characteristics of the model set.Given that the system state variables and the number of dimensions will change before and after switching of sub-models, the concept of multi-model switching is based on an increase and decrease of state variables.To avoid chattering due to switching between the two sub-models, the variable weighting multi-model switching strategy was proposed on the basis of common Lyapunov function, which is the stability theory for switched systems, thereby ensuring stability during the switching process.Lake trials for the vertical plane of a type of AUV prove that the weighted multi-model switching strategy avoids saturating the executor as a result of a change in expected depth and overshooting of depth and pitch angle, among others.The weighted multi-model switching strategy improves the static and dynamic control quality of the deep movement of AUV systems.关键词
自主水下机器人/加权多模型切换控制/共同Lyapunov函数/垂直面控制模型/纵倾角控制模型/切换系统Key words
autonomous underwater vehicle/multi model switching control law with weighting values/common Lyapunov/vertical plane model/pitch control model/switching control system分类
信息技术与安全科学引用本文复制引用
周焕银,李一平,刘开周,封锡盛..基于AUV垂直面运动控制的状态增减多模型切换[J].哈尔滨工程大学学报,2017,38(8):1309-1315,7.基金项目
国家自然科学基金项目(51409047) （51409047）
机器人学国家重点实验室开放基金项目(2016-O05). （2016-O05）
