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

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

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.