| 引用本文: | 方凯,姚佳琪,李家旺.基于神经网络的欠驱动水下机器人三维同步跟踪和镇定控制[J].控制理论与应用,2021,38(6):731~738.[点击复制] |
| FANG Kai,YAO Jia-qi,LI Jia-wang.Three-dimensional simultaneous tracking and stabilization of underactuated autonomous underwater vehicles based on neural network[J].Control Theory and Technology,2021,38(6):731~738.[点击复制] |
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| 基于神经网络的欠驱动水下机器人三维同步跟踪和镇定控制 |
| Three-dimensional simultaneous tracking and stabilization of underactuated autonomous underwater vehicles based on neural network |
| 摘要点击 2552 全文点击 858 投稿时间：2020-05-11 修订日期：2020-12-14 |
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| DOI编号 10.7641/CTA.2020.00265 |
| 2021,38(6):731-738 |
| 中文关键词 自主水下机器人 欠驱动 神经网络 三维跟踪和镇定 自适应控制 |
| 英文关键词 autonomous underwater vehicles underactuated neural networks three-dimensional tracking and stabilization adaptive control |
| 基金项目 |
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| 中文摘要 |
| 研究了欠驱动水下机器人的三维同步跟踪和镇定控制问题, 并考虑了模型参数不确定性、未知外界干扰和
输入饱和限制的影响. 针对不同类型期望轨迹的特性, 构造了新的辅助虚拟信号以实现对欠驱动方向的控制. 基于
反步法和Lyapunov直接法, 设计了一种饱和自适应统一动力学控制律, 使得AUV的状态误差最终收敛至零点附近
的有界区域内, 其中未知模型参数和外部干扰通过基于神经网络的更新律进行估计. 仿真结果表明该控制方法是有
效的且具有较好的控制效果. |
| 英文摘要 |
| This paper addresses the three-dimensional simultaneous tracking and stabilization problem for autonomous
underwater vehicles (AUVs), where the effects of modeling uncertainties, unknown external disturbances and input saturation
constraints are all taken into consideration. Due to analyzing the characteristics of different types of desired trajectories,
two novel auxiliary virtual signals are introduced for the purpose of controlling the underactuated directions. Based on the
backstepping technique and Lyapunov’s direct method, a saturated adaptive dynamic controller with a unified form is designed
to guarantee the error states of AUVs to ultimately converge to bounded areas centered at zero, and while, the neural
networks based updating laws are also proposed to estimate the unknown modeling parameters and external disturbances.
Simulation results illustrate the effectiveness and acceptable performance of the proposed controller. |