利用最小的计算资源设计一种高效的水下航行器稳定和轨迹跟踪嵌入式控制器

S. A. Mohamed, Omar K. Abdelgelil, Osama A. Elhout, Hend M. Aafia, M. Awad, Hossam E. Abd El Munim
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摘要

本文提出了一种计算效率高的AUV控制器,该控制器可以使用单一用途的微控制器来实现。正在研究的AUV具有复杂的八推进器机械结构。这样的系统带来了非线性行为、耦合动力学和参数不确定性等问题。提出了对车辆运动学/动力学的广泛研究,然后建立了测试车辆的非线性模型。采用动态解耦的方法将系统分解为两个独立的简单控制器控制的两个子系统。LQR控制器用于稳定车辆深度和侧倾/俯仰姿态。采用自整定PID控制器对浪涌速度和偏航姿态进行轨迹跟踪。结合LQR/自适应PID控制体系结构,以最小的计算量处理噪声和不确定性。该控制器在测试AUV的多个运动场景中进行了实验验证。
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Design of a highly-efficient embedded controller for AUV stabilization and trajectory tracking using minimal computational resources
This paper proposes a computationally-efficient controller for an AUV which could be implemented using a single-purpose microcontroller. The AUV under study has a complex eight-thruster mechanical configuration. Such system imposes concerns like non-linear behavior, coupled dynamics and parameter uncertainty. An extensive study on vehicle kinematics/dynamics is proposed, followed by formulating a non-linear model for the test vehicle. Dynamic decoupling is applied to break the system into two sub-systems controlled using two independent simple controllers. An LQR controller is used for stabilizing vehicle depth and roll/pitch attitude. A self-tuning PID controller is used for trajectory tracking of surge velocity and yaw attitude. The combined LQR/Adaptive PID control architecture deals very well with noise and uncertainty with minimal computational effort. The controller is verified experimentally using multiple motion scenarios for a test AUV.
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