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首页> 外文期刊>Ocean Engineering >Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle
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Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle

机译：用于水下机器人自动深度控制的自适应非线性控制器的设计

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This paper presents an adaptive nonlinear controller for diving control of an autonomous underwater vehicle (AUV). So far, diving dynamics of an AUV has often been derived under various assumptions on the motion of the vehicle. Typically, the pitch angle of AUV has been assumed to be small in the diving plane. However, these kinds of assumptions may induce large modeling errors and further may cause severe problems in many practical applications. In this paper, through a certain simple modification, we break the above restricting condition on the vehicle's pitch angle in diving motion so that the vehicle could take free pitch motion. Proposed adaptive nonlinear controller is designed by using a traditional backstepping method. Finally, certain numerical studies are presented to illustrate the effectiveness of proposed control scheme, and some practical features of the control law are also discussed.
机译：本文提出了一种自适应非线性控制器，用于自主水下航行器（AUV）的潜水控制。到目前为止，AUV的潜水动力学通常是根据各种关于车辆运动的假设得出的。通常，已经假定AUV的俯仰角在潜水平面内很小。但是，这些假设可能会引起较大的建模误差，并可能在许多实际应用中引起严重的问题。在本文中，通过一些简单的修改，我们打破了俯仰运动中车辆俯仰角的上述限制条件，从而使车辆可以自由俯仰运动。提出的自适应非线性控制器是采用传统的后推法设计的。最后，通过一些数值研究来说明所提出的控制方案的有效性，并讨论了控制律的一些实际特征。

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