计算机应用 ›› 2014, Vol. 34 ›› Issue (2): 605-609.

• 行业与领域应用 • 上一篇    下一篇

基于高度计信息处理的欠驱动无人水下航行器地形跟踪控制

严浙平,邓力榕,孙海涛   

  1. 哈尔滨工程大学 自动化学院,哈尔滨 150001
  • 收稿日期:2013-08-13 修回日期:2013-10-14 出版日期:2014-02-01 发布日期:2014-03-01
  • 通讯作者: 邓力榕
  • 作者简介:严浙平(1972-),男,浙江龙游人,教授,博士生导师,博士,主要研究方向:潜器与水下机器人;邓力榕(1988-),女,四川德阳人,硕士研究生,主要研究方向:潜器与水下机器人;孙海涛(1987-),男,黑龙江哈尔滨人,硕士研究生,主要研究方向:潜器与水下机器人。
  • 基金资助:
    国家自然科学基金资助项目

Bottom-following control for underactuated unmanned underwater vehicle based on altimeter information processing

YAN Zheping,DENG Lirong,SUN Haitao   

  1. College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China
  • Received:2013-08-13 Revised:2013-10-14 Online:2014-02-01 Published:2014-03-01
  • Contact: DENG Lirong

摘要: 针对高度测量信息不准确情况下的欠驱动无人水下航行器(UUV)地形跟踪控制问题,结合欠驱动UUV的固有特性,提出了一种基于反步法的非线性海底地形跟踪控制方法。首先,针对高度计受海水温度和盐度等海洋环境的干扰而导致高度测量信息不准确的问题,采用卡尔曼滤波器对高度测量信息进行处理,提高高度信息的准确性;然后,基于Lyapunov稳定性理论和反步法设计了非线性地形跟踪控制器,并证明了控制系统的渐近稳定性;最后,分别通过仿真实验和海试实验对所提出的方法进行验证。结果表明,基于高度信息滤波处理的欠驱动UUV非线性地形跟踪控制器能够实现精确的地形跟踪控制。

关键词: 欠驱动无人水下航行器, 地形跟踪, 高度信息, 卡尔曼滤波, 反步法

Abstract: Concerning the problem of bottom-following of underactuated Unmanned Underwater Vehicle (UUV) in the condition of output of the altimeter with noisy measures, combining intrinsic characteristic for underactuated UUV, a nonlinear bottom-following control method was proposed based on backstepping theorem. First, owing to the influence of seawater temperature and salinity, a Kalman filter was applied to solve the inaccurate measuring data to improve the accuracy for altimeter information. Then, a bottom-following controller was designed by resorting to backstepping and Lyapunov-based techniques, and the asymptotic convergence of the control system was proved. Finally, simulation and sea trial were performed to verify the feasibility, and the results demonstrate that the proposed nonlinear controller including processed altimeter information can achieve precise bottom-following for underactuated UUV.

Key words: underactuated Unmanned Underwater Vehicle, bottom-following, altitude information, Kalman filter, backstepping

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