Three-Dimensional Trajectory Tracking of an Underactuated UUV by Backstepping Control and Bio-Inspired Models
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- 英文论文题名：Three-Dimensional Trajectory Tracking of an Underactuated UUV by Backstepping Control and Bio-Inspired Models
- 论文作者：Jiajia Zhou ; Dingqi Ye ; Dongxu he ; Da Xu
- 英文论文作者：Jiajia Zhou ; Dingqi Ye ; Dongxu he ; Da Xu ; Harbin Engineering University
- 年：2017
- 作者机构：Harbin Engineering University;
- 英文论文关键词：Backstepping Technique ; Bio-inspired Models ; Differential explosion ; Unmanned Underwater Vehicle
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：U664.82;U674.941
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：7
- 文件大小：1895k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of "differential explosion" in the backstepping control of the underactuated unmanned underwater vehicle(UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller, the derivative output value of the bio-inspired model is used to replace the real-time derivation of virtual control variables in backstepping. This method can avoid multiple derivative calculation of virtual variables, reduce the computation complexity and complexity of the controller. And it satisfies the propeller's thrust constraint and the time constraints for position, velocity and attitude in the underactuated UUV three-dimensional trajectory tracking.
In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of "differential explosion" in the backstepping control of the underactuated unmanned underwater vehicle(UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller, the derivative output value of the bio-inspired model is used to replace the real-time derivation of virtual control variables in backstepping. This method can avoid multiple derivative calculation of virtual variables, reduce the computation complexity and complexity of the controller. And it satisfies the propeller's thrust constraint and the time constraints for position, velocity and attitude in the underactuated UUV three-dimensional trajectory tracking.
In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of "differential explosion" in the backstepping control of the underactuated unmanned underwater vehicle(UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller, the derivative output value of the bio-inspired model is used to replace the real-time derivation of virtual control variables in backstepping. This method can avoid multiple derivative calculation of virtual variables, reduce the computation complexity and complexity of the controller. And it satisfies the propeller's thrust constraint and the time constraints for position, velocity and attitude in the underactuated UUV three-dimensional trajectory tracking.
引文
[1]Fossen,Thor I.Handbook of Marine Craft Hydrodynamics and Motion Control.2011.
[2]Kim,Do Wan.Tracking of REMUS autonomous underwater vehicles with actuator saturations.Pergamon Press,Inc.2015.
[3]Sun Y S,Ran X R,Li Y M,et al.Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles.International Journal of Naval Architecture&Ocean Engineering,2016,8(3):243-251.
[4]Do K D.Control of fully actuated ocean vehicles under stochastic environmental loads in three dimensional space.Ocean Engineering,2015,99:34-43.
[5]Aguiar A P,Hespanha J P.Trajectory-Tracking and PathFollowing of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty.IEEE Transactions on Automatic Control,2007,52(8):1362-1379.
[6]Fossen T I,Pettersen K Y,Galeazzi R.Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces.Control Systems Technology IEEE Transactions on,2015,23(2):820-827.
[7]Sciavicco L,Siciliano B.Modeling and Control of Robot Manipulators.Industrial Robot An International Journal,1996,21(1):99-100.
[8]Elmokadem T,Zribi M,Youcef-Toumi K.Trajectory tracking sliding mode control of underactuated AUVs.Nonlinear Dynamics,2016,84(2):1079-1091.
[9]Zhou J,Tang Z,Zhang H,et al.Spatial Path Following for AUVs Using Adaptive Neural Network Controllers.Mathematical Problems in Engineering,2013,2013(9):1-9.
[10]Bi F Y,Wei Y J,Zhang J Z,et al.Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents.Iet Control Theory&Applications,2010,4(11):2369-2380.
[11]Wang Hong-Jian,Chen Zi-Yin,Bian Xin-Qian,Jia He-Ming,Li Juan.Three-dimensional straight line path-tracking control for underactuated underwater vehicle.Control Theory and Applications,2013,30(4):443-453
[12]Wang Hong-Jian,Chen Zi-Yin,Jia He-Ming,Li Juan,Chen Xing-Hua.Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping.Acta Automatica Sinica,2015,41(3),631-645.
[13]Chang-Zhong Pan,Xu-Zhi Lai,Simon X.Yang,Min Wu.An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics.Expert Systems with Applications.2013.40(4):1629–1635 P.
[14]A.L.Hodgkin,A.F.Huxley.A quantitative description of membrane current and its application to conduction and excitation in nerve,Journal of Physiology,1952,117(4),500-544.
[15]Huidi Zhang.Study on Some Issues of Nonlinear System Control Based on Neurodynamics.Ningbo University,2005.
[2]Kim,Do Wan.Tracking of REMUS autonomous underwater vehicles with actuator saturations.Pergamon Press,Inc.2015.
[3]Sun Y S,Ran X R,Li Y M,et al.Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles.International Journal of Naval Architecture&Ocean Engineering,2016,8(3):243-251.
[4]Do K D.Control of fully actuated ocean vehicles under stochastic environmental loads in three dimensional space.Ocean Engineering,2015,99:34-43.
[5]Aguiar A P,Hespanha J P.Trajectory-Tracking and PathFollowing of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty.IEEE Transactions on Automatic Control,2007,52(8):1362-1379.
[6]Fossen T I,Pettersen K Y,Galeazzi R.Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces.Control Systems Technology IEEE Transactions on,2015,23(2):820-827.
[7]Sciavicco L,Siciliano B.Modeling and Control of Robot Manipulators.Industrial Robot An International Journal,1996,21(1):99-100.
[8]Elmokadem T,Zribi M,Youcef-Toumi K.Trajectory tracking sliding mode control of underactuated AUVs.Nonlinear Dynamics,2016,84(2):1079-1091.
[9]Zhou J,Tang Z,Zhang H,et al.Spatial Path Following for AUVs Using Adaptive Neural Network Controllers.Mathematical Problems in Engineering,2013,2013(9):1-9.
[10]Bi F Y,Wei Y J,Zhang J Z,et al.Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents.Iet Control Theory&Applications,2010,4(11):2369-2380.
[11]Wang Hong-Jian,Chen Zi-Yin,Bian Xin-Qian,Jia He-Ming,Li Juan.Three-dimensional straight line path-tracking control for underactuated underwater vehicle.Control Theory and Applications,2013,30(4):443-453
[12]Wang Hong-Jian,Chen Zi-Yin,Jia He-Ming,Li Juan,Chen Xing-Hua.Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping.Acta Automatica Sinica,2015,41(3),631-645.
[13]Chang-Zhong Pan,Xu-Zhi Lai,Simon X.Yang,Min Wu.An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics.Expert Systems with Applications.2013.40(4):1629–1635 P.
[14]A.L.Hodgkin,A.F.Huxley.A quantitative description of membrane current and its application to conduction and excitation in nerve,Journal of Physiology,1952,117(4),500-544.
[15]Huidi Zhang.Study on Some Issues of Nonlinear System Control Based on Neurodynamics.Ningbo University,2005.