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基于模糊自适应滑模方法的AUV轨迹跟踪控制
Trajectory-tracking control of autonomous underwater vehicles based on fuzzy adaptive sliding mode method
孙巧梅1, 陈金国2, 余万2
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作者单位:1. 三峡大学 水电机械设备设计与维护湖北省重点实验室, 湖北 宜昌 443002;
2. 中国船舶重工集团公司第七一〇研究所, 湖北 宜昌 443003
中文关键字:航迹跟踪;滑模算法;模糊控制;自适应控制
英文关键字:trajectory tracking; sliding mode strategy; fuzzy control; adaptive control
中文摘要:针对水下航行环境中自治水下机器人(Autonomous Underwater Vehicles,AUV)航迹精确跟踪问题,提出一种基于模糊自适应滑模方法的AUV航迹跟踪控制算法。在建立AUV系统动力学模型基础上,将其运动通过变结构滑模控制律结合模糊逼近设计出AUV航迹跟踪控制系统,采用模糊系统实现模型未知干扰的自适应逼近,基于Lyapunov稳定性理论,讨论了闭环系统的稳定性。在考虑加入外界干扰的条件下使用Matlab/Simulink软件,进行数值仿真,模拟轨迹跟踪能够达到稳定并且较平滑连续跟踪预定航迹,对干扰有较好的抑制作用。仿真结果表明了所提控制方法的有效性。
英文摘要:In this paper, a control system is developed based on fuzzy adaptive sliding mode method for Autonomous Underwater Vehicles (AUV) precisely trajectory-tracking. With AUV dynamic model established, variable structure sliding mode strategy and fuzzy logic methods are adopted to design the path tracking controller. Environmental disturbances are compensated by the adaptive fuzzy algorithm. The stability of the control system is discussed using Lyapunov stability theory. Numerical simulations are conducted on Matlab/Simulink and show that the proposed approach can achieve smooth continuous outputs in the condition of environment disturbances. The ability of restraining interference is enhanced. The performance of the proposed control law is evaluated by simulation results.
2017,(): 53-58 收稿日期:2017-08-16
DOI:10.3404/j.issn.1672-7649.2017.12.012
分类号:TP242
基金项目:水电机械设备设计与维护湖北省重点实验室资助项目(2016KJX16)
作者简介:孙巧梅(1983-),女,讲师,主要从事船舶运动控制方向的研究
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