全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于有限时间系统同步的自治水下航行器回收控制

DOI: 10.3724/SP.J.1004.2013.02164, PP. 2164-2169

Keywords: 自治水下航行器,回收技术,有限时间同步,滑模控制

Full-Text   Cite this paper   Add to My Lib

Abstract:

?基于主-从系统状态同步的思想,提出了母艇在平面运动中回收自治水下航行器(Autonomousunderwatervehicle,AUV)的一种控制方法.在给出母艇和自治水下航行器的动力学模型基础上,建立了自治水下航行器(从系统)接收母艇(主系统)的状态信息并控制自身接近母艇的主从控制方案,使母艇自主回收水下航行器的问题转化为两者的运动状态同步问题.利用有限时间稳定性理论,设计了一种在常值海流扰动影响下,自治水下航行器能够在有限时间内被母艇回收的滑模控制器,理论证明和仿真实例证实了该控制器的有效性.

References

[1]  Qian Dong, Meng Qing-Guo, Xue Meng, Zhang Shao-Wu. Requirements for task and capability of the US navy unmanned underwater vehicles. Torpedo Technology, 2005, 13(4): 7-12, 25 (钱东, 孟庆国, 薛蒙, 张少悟. 美国海军UUV的任务与能力需求. 鱼雷技术, 2005, 13(4): 7-12, 25)
[2]  Wang B, Su Y M, Wan L, Sun Y S. Adaptive PID control system for an autonomous underwater vehicle. High Technology Letters, 2011, 17(1): 7-12
[3]  Smallwood D A, Whitcomb L L. Model-based dynamic positioning of underwater robotic vehicles: theory and experiment. IEEE Journal of Oceanic Engineering, 2004, 29(1): 169-186
[4]  Fossen T I. Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Trondheim, Norway: Marine Cybernetics, 2002
[5]  Spong M W, Chopra N. Synchronization of networked Lagrangian systems. In: Lagrangian and Hamiltonian Methods for Nonlinear Control, LNCIS, F. Bullo and K. Fujimoto, (Eds). Berlin Heidelberg: Springer-Verlag, 2007. 47-59
[6]  Mei J, Ren W, Ma G F. Distributed coordinated tracking with a dynamic leader for multiple Euler-Lagrange systems. IEEE Transactions on Automatic Control, 2011, 56(6): 1415-1421
[7]  Bhat S P, Bernstein D S. Finite-time stability of continuous autonomous systems. SIAM Journal on Control and Optimization, 2000, 38(3): 751-766
[8]  Xiang X B, Jouvencel B, Parodi O. Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection. International Journal of Advanced Robotic Systems, 2010, 7(1): 75-84
[9]  Pan Guang, Huang Ming-Ming, Song Bao-Wei, Hu Hai-Bao, Du Xiao-Xu. Current situation and development trend of AUV recovery technology. Torpedo Technology, 2008, 16(6): 10-14 (潘光, 黄明明, 宋保维, 胡海豹, 杜晓旭. AUV回收技术现状及发展趋势. 鱼雷技术, 2008, 16(6): 10-14)
[10]  Zhu Kang-Wu, Gu Lin-Yi, Ma Xin-Jun, Xu Ben-Tao. Studies on multivariable robust output feedback control for underwater vehicles. Journal of Zhejiang University (Engineering Science), 2012, 46(8): 1397-1406 (朱康武, 顾临怡, 马新军, 胥本涛. 水下运载器多变量鲁棒输出反馈控制方法. 浙江大学学报(工学版), 2012, 46(8): 1397-1406)
[11]  McEwen R S, Hobson B W, McBride L, Bellingham J G. Docking control system for a 54-cm-diameter (21-in) AUV. IEEE Journal of Oceanic Engineering, 2008, 33(4): 550-562
[12]  Liu Yuan, Min Hai-Bo, Wang Shi-Cheng, Zhang Jin-Sheng, Liu Zhi-Guo. Distributed adaptive synchronization of networked Euler-Lagrange systems with communication delays. Acta Automatica Sinica, 2012, 38(8): 1270-1279 (刘源, 闵海波, 王仕成, 张金生, 刘志国. 时延网络中Euler-Lagrange系统的分布式自适应协调控制. 自动化学报, 2012, 38(8): 1270-1279)
[13]  Ren W. Distributed leaderless consensus algorithms for networked Euler-Lagrange systems. International Journal of Control, 2009, 82(11): 2137-2149
[14]  Mei Jie, Zhang Hai-Bo, Ma Guang-Fu. Adaptive coordinated tracking for networked Euler-Lagrange systems under a directed graph. Acta Automatica Sinica, 2011, 37(5): 596-603 (梅杰, 张海博, 马广富. 有向图中网络Euler-Lagrange系统的自适应协调跟踪. 自动化学报, 2011, 37(5): 596-603)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133