水下机器人高度信息融合与欠驱动地形跟踪控制-控制理论与应用.PDFVIP

30 1 Vol. 30 No. 1 2013 1 Control Theory Applications Jan. 2013 DOI: 10.7641/CTA.2013.20172 , , , (, 150001; , 150001) : (DVL). Takagi-Sugeno DVL, . , S. , , . : ; ; ; S : TP24 : A Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle LI Yue-ming , WAN Lei, SUN Yu-shan, ZHANG Guo-cheng (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin Heilongjiang 150001, China; College of Shipbuilding Engineering, Harbin Engineering University, Harbin Heilongjiang 150001, China) Abstract: A bottom-following control problem is studied for an underactuated autonomous underwater vehicle (AUV) with an altimeter and a doppler velocity log (DVL). The Takagi-Sugeno decision approach fuses the altitude information from altimeter and DVL, which improves the altitude information perception capacity of AUV. The bottom-following control is discomposed into forward speed control and depth control. The forward speed controller and the underactuated depth controller are solved by the S-plane control method and the backstepping method, respectively. The proposed method is tested in a real sea trial; the result shows that the method is feasible and effective. Key words: autonomous underwater vehicle; bottom-following; backstepping; S-plane control 1 (Introduction) , . [3] , , , , , , . , . [4] : 1) , , , ; 2) ; 3) , (autonomous underwa- . , r2D4 ter vehicle, AUV), AUV [1] , ,