...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Ocean Engineering >Trajectory tracking control for a CMG-based underwater vehicle with input saturation in 3D space
【24h】

Trajectory tracking control for a CMG-based underwater vehicle with input saturation in 3D space

机译：基于CMG的水下机器人在3D空间中具有输入饱和的轨迹跟踪控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper first investigates the trajectory tracking problem of an underactuated underwater vehicle based on control moment gyros (CMGs) in the three-dimensional (3D) space. The controller designing process consists of three parts to form a transformed cascade nonlinear system subject to internal disturbances and input saturation. By introducing virtual control laws to simplify the position error in kinematic layer, and tracking errors can be guaranteed to converge to zero on condition that the error dynamics are stabilized. Moreover, anti-windup compensators are taken in order to deal with the problem of input saturation, and backstepping methods are exploited to construct the dynamic controller to force the error signals converge to the neighborhood of origin. Furthermore, note that attitude control torques generated by the proposed controller are actual control input for CMGs, therefore constrained steering law is utilized to achieve the global tracking control. Finally, numerical simulation studies are carried out to illustrate the effectiveness of the developed control framework.
机译：本文首先研究了在三维（3D）空间中基于控制力矩陀螺（CMG）的欠驱动水下航行器的轨迹跟踪问题。控制器的设计过程由三部分组成，形成一个受内部扰动和输入饱和影响的变换级联非线性系统。通过引入虚拟控制定律来简化运动学层中的位置误差，并且在误差动态稳定的情况下，可以确保跟踪误差收敛到零。此外，为了解决输入饱和问题，采用了抗饱和补偿器，并采用了反推法构造了动态控制器，以迫使误差信号收敛到原点附近。此外，请注意，由所提出的控制器生成的姿态控制扭矩是CMG的实际控制输入，因此使用了受约束的转向定律来实现全局跟踪控制。最后，进行了数值模拟研究，以说明开发的控制框架的有效性。

著录项

  • 来源
    《Ocean Engineering》 |2019年第1期|587-598|共12页
  • 作者

    Xu Ruikun; Tang Guoyuan; Han Lijun; Xie De;

  • 作者单位

    Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China;

    Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China|Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China;

    Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China;

    Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China|Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Underactuated underwater vehicle; Trajectory tracking; Control moment gyros; Backstepping;

    机译：欠驱动水下航行器;轨迹跟踪;控制力矩陀螺仪;后推;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号