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基于自适应反步滑模的AUV推进器容错控制

张瀚文 王俊雄

张瀚文, 王俊雄. 基于自适应反步滑模的AUV推进器容错控制[J]. 水下无人系统学报, 2021, 29(4): 420-427. doi: 10.11993/j.issn.2096-3920.2021.04.008
引用本文: 张瀚文, 王俊雄. 基于自适应反步滑模的AUV推进器容错控制[J]. 水下无人系统学报, 2021, 29(4): 420-427. doi: 10.11993/j.issn.2096-3920.2021.04.008
ZHANG Han-wen, WANG Jun-xiong. Fault-tolerant Control of AUV Thruster Based on Adaptive Backstepping Sliding Mode[J]. Journal of Unmanned Undersea Systems, 2021, 29(4): 420-427. doi: 10.11993/j.issn.2096-3920.2021.04.008
Citation: ZHANG Han-wen, WANG Jun-xiong. Fault-tolerant Control of AUV Thruster Based on Adaptive Backstepping Sliding Mode[J]. Journal of Unmanned Undersea Systems, 2021, 29(4): 420-427. doi: 10.11993/j.issn.2096-3920.2021.04.008

基于自适应反步滑模的AUV推进器容错控制

doi: 10.11993/j.issn.2096-3920.2021.04.008
详细信息
    作者简介:

    张瀚文(1996-), 男, 在读硕士, 主要研究方向为水下机器人自动控制技术.

  • 中图分类号: U674.941 TP302.8

Fault-tolerant Control of AUV Thruster Based on Adaptive Backstepping Sliding Mode

  • 摘要: 为了实现自主水下航行器(AUV)在推进器故障的情况下对运动控制的鲁棒性要求, 针对AUV的六自由度非线性矢量运动模型, 设计了自适应反步滑模运动跟踪控制器, 并在推力分配中考虑推进器故障特点, 建立连续时变的故障模型。结合故障信息, 基于伪逆法技术, 在调节控制器配置结构功能的基础上增加了对故障的调节功能, 可以通过更改控制输入对故障进行修正, 对不同的故障类型分别采取故障调节和控制重构的方法实现推进器故障状态下的容错控制, 有效提高了容错控制算法的应用普适性。在仿真中, 通过模拟多种不同的故障模式, 验证了自适应容错控制器在推进器故障情况下对AUV运动控制的有效性。

     

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  • 被引次数: 0
出版历程
  • 收稿日期:  2020-10-26
  • 修回日期:  2020-12-02
  • 刊出日期:  2021-08-31

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