用于在时变水流中跟踪 AUV 轨迹的凝视辅助规定性能控制器

IF 2.7 3区 地球科学 Q1 ENGINEERING, MARINE Journal of Marine Science and Engineering Pub Date : 2024-09-13 DOI:10.3390/jmse12091643
Zhuoyu Zhang, Mingwei Lin, Dejun Li, Ri Lin
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引用次数: 0

摘要

由于耦合动力学、建模不准确和未知干扰等原因,欠驱动自主潜水器(AUV)的轨迹跟踪具有挑战性。为此,我们提出了一种解耦凝视辅助规定性能控制器(GAPPC)。我们首先使用误差变换方法来实现规定性能,并结合视线(LOS)算法和事件触发机制来处理欠驱动 AUV 的运动特性。接下来,我们开发了一种无需了解模型参数的转换误差控制策略,包括快速动态补偿,以减少稳态误差。最后,我们分析了控制器的稳定性并给出了仿真结果。仿真结果表明,考虑到建模的不准确性和未知洋流,GAPPC 比自适应鲁棒控制器的稳定性误差提高了 67.3%。
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Gaze-Assisted Prescribed Performance Controller for AUV Trajectory Tracking in Time-Varying Currents
Trajectory tracking for underactuated autonomous underwater vehicles (AUVs) is challenging due to coupling dynamics, modeling inaccuracies, and unknown disturbances. To tackle this, we propose a decoupling gaze-assisted prescribed performance controller (GAPPC). We first use an error transformation approach to achieve the prescribed performance, incorporating the line-of-sight (LOS) algorithm and an event-triggering mechanism to handle the kinematic characteristics of underactuated AUVs. Next, we develop a control strategy for the transformed error that does not require knowledge of the model parameters, including fast dynamic compensation to reduce steady-state errors. Finally, we analyze the controller’s stability and present simulation results. Simulations, which account for modeling inaccuracies and unknown ocean currents, show that the GAPPC improves stability errors by 67.3% compared to the adaptive robust controller.
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来源期刊
Journal of Marine Science and Engineering
Journal of Marine Science and Engineering Engineering-Ocean Engineering
CiteScore
4.40
自引率
20.70%
发文量
1640
审稿时长
18.09 days
期刊介绍: Journal of Marine Science and Engineering (JMSE; ISSN 2077-1312) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to marine science and engineering. It publishes reviews, research papers and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. Electronic files and software regarding the full details of the calculation or experimental procedure, if unable to be published in a normal way, can be deposited as supplementary electronic material.
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