【作者】 张凯；

【导师】 李铁山； 王健；

【作者基本信息】 大连海事大学 ， 工程硕士（专业学位）， 2017， 硕士

【摘要】 自主式水下机器人作为人类探索和开发海洋的重要工具,其在军事和民用领域都有着很大的发展前景。本世纪将是自主式水下机器人技术迅速发展的时代,其控制技术的发展也必将是学者们研究的重点。众所周知,自主式水下机器人运动控制系统具有高度非线性、非完整性、模型不确定性、存在外界干扰等特点,如何利用非线性控制理论及相关智能控制算法来解决上述问题,已成为近年来自主式水下机器人运动控制领域专家学者们研究的热点。为此,在对国内外有关自主式水下机器人航迹跟踪控制的研究成果进行深入研究与分析的基础之上,本文针对不确定非线性自主式水下机器人控制系统开展了智能控制算法研究。首先,针对自主式水下机器人控制系统,设计了一种基于动态面滑模算法的跟踪控制器,该算法避免了传统反步方法中的"计算爆炸"问题,但依然没有解决滑模控制中的抖振问题,其算法的鲁棒性还有待提高。其次针对含有未知干扰的自主式水下机器人控制系统,利用二阶滑模方法和动态面控制技术,提出了一种动态面二阶滑模控制器,有效的削弱了传统滑模控制中的抖振问题。最后针对含有未知干扰和建模误差的自主式水下机器人控制系统,提出了一种基于最少学习参数法和动态面二阶滑模算法的自主式水下机器人三维航迹跟踪控制算法,该算法考虑了建模误差和外界干扰对系统带来的影响,设计了一种神经网络补偿器,并采用最少学习参数法降低控制器的计算负担,进一步提高了控制器的鲁棒性。本文探讨的三种自主式水下机器人控制器,其鲁棒性和控制性能依次增加,并且能够保证闭环系统的稳定性,最后以MATLAB仿真工具验证了算法的有效性。更多还原

【Abstract】 Autonomous underwater vehicles(AUV),as important marine tools explored and developed by human,have great prospects in military and civilian fields.The development of autonomous underwater vehicle control technology will become the focus of scholars.As everyone knows,the control system of autonomous underwater vehicles owns the properties of high nonlinearity,non-integrity,model uncertainty,external disturbance and so on.How to use the nonlinear control theory and intelligent control algorithm to solve the above problems,which has become a hot spot in the research field of autonomous underwater vehicle motion control.In this paper,three robust schemes are discussed for the control system of autonomous underwater vehicles.Firstly,a dynamic surface sliding mode control algorithm is designed for the control system of an autonomous underwater vehicle.The algorithm avoids the problem of "explosion of complexity" in the traditional backstepping method",but still does not solve the chattering problem in sliding mode control,meanwhile robustness of the algorithm needs to be improved.Secondly,a control method,which effectively reduces the problem of chattering in the traditional sliding mode control method,is designed by using dynamic surface control technology and second order sliding mode control method for the control system of autonomous underwater vehicles with uncertain disturbance.Finally,A MLP and dynamic surface second order sliding mode control algorithm is proposed for three-dimensional trajectory tracking control of autonomous underwater vehicle with model errors under external disturbance.An innovative neural network compensator is designed to counteract effects of modeling errors,meanwhile MLP technology is used to reduce the computational burden caused by the neural network,and further improves the robustness of the system.The robustness of the three algorithms is increasing in turn in this paper.Stability of the closed-loop system is guaranteed in all of the three algorithms,finally,MATLAB for simulation shows the effectiveness of the investigated algorithms.更多还原