信息与控制2017，Vol.46Issue(6)：685-690,6.DOI:10.13976/j.cnki.xk.2017.0685
基于加幂积分方法的AUV的点镇定
Point Stabilization for an AUV Based on the Addition of a Power Integrator
摘要
Abstract
In accordance with the point stabilization problem for an underactuated AUV in the horizontal plane,we design non-smooth controllers based on the addition of a power integrator approach.First,we avoid the limitations of Brockett's necessary conditions by using the coordinate transformation of the polar coordinate.Second,we divide the transformed system into heading subsystems and distance subsystems by using variable substitution.Thus,the high-order system is transformed into two low-order systems.Third,we design the controllers for the two subsystems by adding a power integrator.Finally,we design the controllers for the case where the starting point coincides with the target point by adding a power integrator.Through the construction of appropriate Lyapunov functions,the velocities,distances,and angles of an underactuated AUV can converge to the desired values.Simulation results demonstrate the effectiveness of the designed controllers.关键词
自主式水下航行器(AUV)/点镇定/加幂积分方法Key words
AUV/point stabilization/adding a power integrator approach分类
信息技术与安全科学引用本文复制引用
王源,王钊,尹怀强..基于加幂积分方法的AUV的点镇定[J].信息与控制,2017,46(6):685-690,6.基金项目
国家自然科学基金资助项目(61573378) （61573378）
