| 引用本文: | 朱大奇,杨蕊蕊.生物启发神经动力学模型的自治水下机器人反步跟踪控制[J].控制理论与应用,2012,29(10):1309~1316.[点击复制] |
| ZHU Da-qi,YANG Rui-rui.Backstepping tracking control of autonomous underwater vehicles with bio-inspired neurdynamics model[J].Control Theory and Technology,2012,29(10):1309~1316.[点击复制] |
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| 生物启发神经动力学模型的自治水下机器人反步跟踪控制 |
| Backstepping tracking control of autonomous underwater vehicles with bio-inspired neurdynamics model |
| 摘要点击 2384 全文点击 1916 投稿时间：2011-07-16 修订日期：2012-04-18 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.10.CCTA110826 |
| 2012,29(10):1309-1316 |
| 中文关键词 自治水下机器人 生物启发模型 运动控制 全局渐近稳定 |
| 英文关键词 autonomous underwater vehicles a bio-inspired model motion control global asymptotically stable |
| 基金项目 国家自然科学基金资助项目(51075257, 51279098); 上海市科委创新行动计划资助项目(10550502700); 上海市优秀学科带头人计划资助项目(11XD1402500). |
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| 中文摘要 |
| 本文提出一种生物启发神经动力学模型的自治水下机器人(autonomous underwater vehicles, AUV)三维轨迹跟踪控制算法. 将AUV在三维空间的运动分为水平面运动和垂直面运动, 针对传统反步轨迹跟踪控制器出现的速度跳变问题, 采用生物启发神经动力学模型, 通过构造一种简单的中间虚拟变量, 同时结合Lyapunov函数设计出轨迹跟踪控制律, 使其控制效果在水平面和垂直面都能够达到全局渐近稳定并且有平滑连续的输出结果, 克服AUV反步轨迹跟踪控制的速度跳变问题. 仿真结果证明了所提控制律的有效性. |
| 英文摘要 |
| A trajectory tracking control algorithm for autonomous underwater vehicles (AUV) with bio-inspired neurdynamics model is presented. The motion of AUV in three-dimensional space is divided into horizontal movement and vertical movement. To cope with the problem of speed jump in the traditional backstepping trajectory-tracking controller, we introduce an intermediate virtue variable to the bio-inspired neurdynamics model and make use of the Lyapunov function to develop the trajectory-tracking control law. We prove that the control is globally asymptotically stable in both horizontal plane and vertical plane. The simulation validates the correctness and effectiveness of the proposed control law. |