| 引用本文: | 李岳明,万磊,孙玉山,张国成.水下机器人高度信息融合与欠驱动地形跟踪控制[J].控制理论与应用,2013,30(1):118~122.[点击复制] |
| LI Yue-ming,WAN Lei,SUN Yu-shan,ZHANG Guo-cheng.Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle[J].Control Theory and Technology,2013,30(1):118~122.[点击复制] |
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| 水下机器人高度信息融合与欠驱动地形跟踪控制 |
| Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle |
| 摘要点击 3122 全文点击 2367 投稿时间：2012-03-04 修订日期：2012-07-01 |
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| DOI编号 10.7641/CTA.2013.20172 |
| 2013,30(1):118-122 |
| 中文关键词 水下机器人 地形跟踪 反步法 S面控制 |
| 英文关键词 autonomous underwater vehicle bottom-following backstepping S-plane control |
| 基金项目 国家“863”计划资助项目(2008AA092301–2); 中央高校基本科研业务费专项资金资助项目(HEUCFZ1003); 中国博士后科学基金资助项目(20100480964). |
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| 中文摘要 |
| 研究了配置高度计和多普勒速度计(DVL)的欠驱动水下机器人地形跟踪控制问题. 采用Takagi-Sugeno推理方法对高度计和DVL两种传感器的高度信息进行融合, 提高了高度信息感知能力. 将地形跟踪分为速度控制和深度控制问题, 分别使用S面控制方法设计速度控制器和反步法设计欠驱动深度控制器. 最后, 通过实际海洋实验对研究的方法进行了验证, 实验结果表明该文提出的方法是有效的. |
| 英文摘要 |
| A bottom-following control problem is studied for an underactuated autonomous underwater vehicle (AUV) with an altimeter and a doppler velocity log (DVL). The Takagi-Sugeno decision approach fuses the altitude information from altimeter and DVL, which improves the altitude information perception capacity of AUV. The bottom-following control is discomposed into forward speed control and depth ontrol. The forward speed controller and the underactuated depth controller are solved by the S-plane control method and the backstepping method, respectively. The proposed method is tested in a real sea trial; the result shows that the method is feasible and effective. |