| 引用本文: | 熊俊峰,何玉庆,李德才,韩建达.喷水推进式水面机器人H∞鲁棒航向跟踪控制[J].控制理论与应用,2019,36(2):165~174.[点击复制] |
| XIONG Jun-feng,HE Yu-qing,LI De-cai,HAN Jian-da.Robust H-infinity yaw tracking control of a water-jet propulsion unmanned surface vehicle[J].Control Theory and Technology,2019,36(2):165~174.[点击复制] |
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| 喷水推进式水面机器人H∞鲁棒航向跟踪控制 |
| Robust H-infinity yaw tracking control of a water-jet propulsion unmanned surface vehicle |
| 摘要点击 3282 全文点击 1403 投稿时间：2017-12-06 修订日期：2018-07-02 |
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| DOI编号 10.7641/CTA.2018.70909 |
| 2019,36(2):165-174 |
| 中文关键词 水面机器人 动力学建模 参数辨识 H∞鲁棒控制 航向跟踪 |
| 英文关键词 unmanned surface vehicle dynamic modeling parameter identification H∞ robust control yaw tracking |
| 基金项目 省自然科学基金,国家自然科学基金 |
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| 中文摘要 |
| 针对水面机器人(unmanned surface vehicle, USV)航向跟踪容易受到风、浪与水流干扰影响的问题, 提出了一种基于线性变参(linear parameter varying, LPV)模型的H∞鲁棒航向跟踪控制器. 首先从水动力学机理出发, 提出了基于速度变参的LPV模型. 然后基于提出的速度变参LPV模型, 利用线性矩阵不等式设计了USV的H∞鲁棒航向控制器, 用以抵抗风、浪与水流对机器人的影响. 最后, 在自主研发的3自由度欠驱动喷水推进式USV平台上进行了实验. 实验结果表明, 控制器可以实现鲁棒的航向跟踪控制. |
| 英文摘要 |
| To solve the problem that the yaw tracking control of unmanned surface vehicle (USV) is easily influenced by wind, wave, and current, a H-infinity robust yaw tracking controller based on linear parameter varying (LPV) model is proposed. Firstly, a speed scheduled LPV model is constructed by considering the hydrodynamic mechanism. Then, based on the proposed speed scheduled LPV model, linear matrix inequality is used to design the H-infinity robust yaw tracking controller of the USV to attenuate the disturbances of wind, wave and current. Finally, experiments are carried out on a self-developed 3-degrees-of-freedom under-actuated water-jet propulsion USV. The experimental results show that robust yaw tracking is achieved by using the proposed controller. |
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