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针对欠驱动自治水下机器人在模型参数未知情况下水下平面轨迹跟踪控制问题,提出基于无源理论的自适应控制方法.首先,通过微分同胚等效变换对欠驱动项补偿,然后利用等效变换后的误差动态方程的内在无源特性,采用Lyapunov直接法和反步法将运动学模型控制器扩展至动力学模型,并提出AUV惯性质量矩阵参数和水动力阻尼矩阵参数估计自适应律.Lyapunov稳定理论证明了该方法可有效克服参数未知的干扰作用,使系统达到全局渐近跟踪,参数估计误差有界且收敛到有限值.仿真研究验证了该控制方法的有效性.
In order to solve the problem of under-plane trajectory tracking control under under-actuated autonomous underwater robot with unknown model parameters, an adaptive control method based on passive theory is proposed. Firstly, the under-actuated term is compensated by the differential homeomorphic equivalence transform The inherent passive characteristics of the transformed dynamic equation of error are analyzed. The Lyapunov direct method and backstepping method are used to extend the kinematical model controller to the dynamic model. A parameter of inertial mass matrix (AUV) and adaptive parameter estimation of hydrodynamic damping matrix are proposed. Lyapunov stability theory proves that this method can effectively overcome the unknown interference and make the system reach the global asymptotic tracking, and the parameter estimation error is bounded and converges to a finite value. Simulation results show the effectiveness of the proposed control method.