引用本文:张利军,齐雪,赵杰梅,庞永杰.垂直面欠驱动自治水下机器人定深问题的自适应输出反馈控制[J].控制理论与应用,2012,29(10):1371~1376.[点击复制]
ZHANG Li-jun,QI Xue,ZHAO Jie-mei,PANG Yong-jie.Depth-keeping control for autonomous underwater vehicle in vertical plane using adaptive output feedback controller[J].Control Theory and Technology,2012,29(10):1371~1376.[点击复制]
垂直面欠驱动自治水下机器人定深问题的自适应输出反馈控制
Depth-keeping control for autonomous underwater vehicle in vertical plane using adaptive output feedback controller
摘要点击 2420  全文点击 1274  投稿时间：2011-05-21  修订日期：2012-03-15
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DOI编号  10.7641/j.issn.1000-8152.2012.10.CCTA110581
  2012,29(10):1371-1376
中文关键词  水下机器人  径向基神经网络  自适应输出反馈  反步法
英文关键词  autonomous underwater vehicles  radial basis neural network  adaptive output feedback  backstepping
基金项目  国家自然科学基金资助项目(61174047); 中国教育部门博士基金资助项目(20102304110003); 预先研究资助项目(51316080301); 安徽科技学院自然科学研究资助项目(ZRC2120324).
作者单位E-mail
张利军 西北工业大学 航海学院 zhanglj@hrbeu.edn.cn 
齐雪* 安徽科技学院 理学院 qixuesnow@163.com 
赵杰梅 哈尔滨工程大学 自动化学院  
庞永杰 哈尔滨工程大学 水下机器人技术重点实验室  
中文摘要
      针对垂直面欠驱动自治水下机器人(AUV)定深控制问题, 本文仅使用可测量的深度和纵摇角信息, 基于反步法设计自适应输出反馈控制器. 为此首先设计观测器, 实现不可测纵摇角速度反馈; 再利用径向基神经网络对不确定水动力系数和纵荡、垂荡及纵摇角速度耦合产生的非线性结构进行补偿; 采用自适应策略对纵荡和垂荡速度形成的有界干扰进行抑制. 本文采用AUV一阶非完整模型, 不以线性化为目的, 放宽了纵摇角只能在小范围内变化的限制. 最后通过理论证明和仿真实验表明该方法能够实现AUV深度和姿态控制, 对未建模非线性动态和有界扰动具有很强的自适应性和鲁棒性.
英文摘要
      To keep the depth of an autonomous underwater vehicle (AUV) in a vertical plane, we design an adaptive output feedback controller based on the backstepping technique, using the information of measurable depth and the pitch angle. To achieve this objective, an observer is built to implement the feedback of the immeasurable velocity of the pitch angle. A radial basis neural network is adopted to compensate the nonlinear effects produced by the uncertain hydrodynamic coefficients as well as the coupling velocities of surge, dive, and pitch angle. An adaptive strategy is used to inhibit the disturbance from the velocity of surge and dive. A first-order incomplete model of AUV is employed without linearization; this relaxes the restriction on the variation range of the pitch angle. Theoretical analysis and simulation experiment results show that the proposed method implements the control of depth and altitude of the AUV with high adaptability and strong robustness for the unordered nonlinear dynamics and bounded disturbances.