基于非线性干扰观测器的无人船与自主水下航行器协同运动控制策略

U675; 面向水域探测场景的立体化、多样化、复杂化,基于领航-跟随编队控制的思想,提出了水面无人船(Unmanned Surface Vehicle,USV)和自主水下无人航行器(Autonomous Underwater Vehicle,AUV)跨介质异构体协同运动控制策略.首先,该控制策略考虑了未知环境干扰等因素带来的动力学建模误差,设计了非线性干扰观测器用以估计误差影响;其次,利用动态自适应前视距离改进视线法(LOS),在制导层面解决AUV欠驱动控制问题,结合级联系统分析USV-AUV编队控制问题,通过反馈线性化设计AUV跟随控制器;最后,采用李雅普诺夫理论证明了基于改进制导律的USV...

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Published in上海交通大学学报 Vol. 57; no. z1; pp. 114 - 123
Main Authors 于特, 刘佳鹏, 吴超, 周畅, 周胜增, 王磊
Format Journal Article
LanguageChinese
Published 上海船舶电子设备研究所,上海 201108 2023
水声对抗技术重点实验室,上海 201108%上海交通大学船舶海洋与建筑工程学院,上海 200240
Subjects
水面无人船
非线性干扰观测器
cooperative con-trol
unmanned surface vehicle(USV)
自主水下航行器
autonomous underwater vehicle(AUV)
nonlinear disturbance observer
协同控制
Online AccessGet full text
ISSN1006-2467
DOI10.16183/j.cnki.jsjtu.2023.S1.25

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Abstract U675; 面向水域探测场景的立体化、多样化、复杂化,基于领航-跟随编队控制的思想,提出了水面无人船(Unmanned Surface Vehicle,USV)和自主水下无人航行器(Autonomous Underwater Vehicle,AUV)跨介质异构体协同运动控制策略.首先,该控制策略考虑了未知环境干扰等因素带来的动力学建模误差,设计了非线性干扰观测器用以估计误差影响;其次,利用动态自适应前视距离改进视线法(LOS),在制导层面解决AUV欠驱动控制问题,结合级联系统分析USV-AUV编队控制问题,通过反馈线性化设计AUV跟随控制器;最后,采用李雅普诺夫理论证明了基于改进制导律的USV-AUV编队控制系统的一致全局渐进稳定.湖试结果表明,所提出的USV-AUV编队控制策略是有效的.
AbstractList U675; 面向水域探测场景的立体化、多样化、复杂化,基于领航-跟随编队控制的思想,提出了水面无人船(Unmanned Surface Vehicle,USV)和自主水下无人航行器(Autonomous Underwater Vehicle,AUV)跨介质异构体协同运动控制策略.首先,该控制策略考虑了未知环境干扰等因素带来的动力学建模误差,设计了非线性干扰观测器用以估计误差影响;其次,利用动态自适应前视距离改进视线法(LOS),在制导层面解决AUV欠驱动控制问题,结合级联系统分析USV-AUV编队控制问题,通过反馈线性化设计AUV跟随控制器;最后,采用李雅普诺夫理论证明了基于改进制导律的USV-AUV编队控制系统的一致全局渐进稳定.湖试结果表明,所提出的USV-AUV编队控制策略是有效的.
Author 王磊
于特
刘佳鹏
吴超
周胜增
周畅
AuthorAffiliation 上海船舶电子设备研究所,上海 201108;水声对抗技术重点实验室,上海 201108%上海交通大学船舶海洋与建筑工程学院,上海 200240
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WU Chao
LIU Jiapeng
ZHOU Chang
ZHOU Shengzeng
WANG Lei
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Keywords 水面无人船
非线性干扰观测器
cooperative con-trol
unmanned surface vehicle(USV)
自主水下航行器
autonomous underwater vehicle(AUV)
nonlinear disturbance observer
协同控制
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PublicationTitle 上海交通大学学报
PublicationTitle_FL Journal of Shanghai Jiaotong University
PublicationYear 2023
Publisher 上海船舶电子设备研究所,上海 201108
水声对抗技术重点实验室,上海 201108%上海交通大学船舶海洋与建筑工程学院,上海 200240
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Title 基于非线性干扰观测器的无人船与自主水下航行器协同运动控制策略
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