基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法

黄博伦; 杨 启

doi:10.11993/j.issn.2096-3920.2021.01.003

基于super-twisting二阶滑模算法的作业型ROV路径跟踪控制方法

doi: 10.11993/j.issn.2096-3920.2021.01.003

黄博伦¹,
杨启^1,2

1.
上海交通大学高新船舶与海洋开发装备协同创新中心海洋工程国家重点实验室, 上海, 200240
2.
上海交通大学海洋水下工程科学研究院有限公司, 上海, 200231

基金项目: 国家重点研发计划项目资助(2017YFC0306704).

详细信息

作者简介:
黄博伦(1989-), 男, 在读博士, 主要研究方向为水下机器人控制技术.

中图分类号: TJ630 TB53
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- 被引次数: 0
出版历程
- 收稿日期: 2020-03-13
- 修回日期: 2020-04-23
- 刊出日期: 2021-03-01

Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller

HUANG Bo-lun¹,
YANG Qi^1,2

1.
Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration, State Key laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2.
Shanghai Jiaotong University Underwater Engineering Institute Co. Ltd .Shanghai 200231. China

摘要

摘要: 作业型遥控无人水下航行器(ROV)的运动存在时变外界干扰和系统不确定性, 利用常规滑模方法设计其运动控制器会产生抖振现象, 而常用的饱和函数联合边界层法(SatSMC)在消除抖振的同时无法保证控制精度。针对上述问题, 文中设计了super-twisting二阶滑模控制器(STSMC)来实现作业型ROV的空间路径跟踪。利用Lyapunov方法分析了系统的稳定性, 并证明该方法能够保证跟踪误差在有限时间内收敛。将提出的STSMC与SatSMC及比例-积分-微分法进行了仿真试验对比, 结果表明: STSMC能够使ROV完成对既定路径的跟踪, 并具有更好的鲁棒性、快速性和控制精度, 同时产生的抖振也明显小于SatSMC, 控制参数也未增加, 更适于ROV的实际使用。
- 遥控无人水下航行器 /
- super-twisting算法 /
- 滑模控制 /
- 路径跟踪
Abstract: Time-varying external disturbances and system uncertainties affect the motion of work-class remote-operated vehicles(ROVs). The conventional sliding mode method for ROV motion control has the drawback of a chattering phenomenon, whereas the common method for eliminating chattering, namely, the saturation function combined with a boundary layer sliding mode controller(SatSMC), cannot guarantee control accuracy. To address these problems, a super-twisting second-order sliding mode controller(STSMC) is proposed to realize trajectory tracking of a work-class ROV. The Lyapunov method is used to analyze the stability of the system. It is proved that the proposed controller can ensure the convergence of a tracking error in finite time. A simulation experiment of the proposed STSMC and SatSMC methods and the proportional integral derivative(PID) control are compared. Results show that the STSMC method enables the ROV to complete the tracking of a predetermined path. This method also has stronger robustness, rapidity and accuracy. The chattering of the STSMC is also significantly reduced compared to that of the SatSMC. In addition, the control parameters are not increased, making the STSMC more suitable for actual use with ROVs.
- remote-operated vehicle /
- super-twisting algorithm /
- sliding mode control /
- trajectory tracking

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参考文献(24)

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