基于LMI的无人水下航行器干扰补偿控制

赵 旭; 龚时华; 杨 进

doi:10.11993/j.issn.2096-3920.2020.03.005

基于LMI的无人水下航行器干扰补偿控制

doi: 10.11993/j.issn.2096-3920.2020.03.005

中国船舶重工集团公司第705研究所昆明分部, 云南昆明, 650118

详细信息

作者简介:
赵旭(1992-), 男, 硕士, 主要从事水下航行器控制与故障诊断技术研究.

中图分类号: TJ630.33 TP13
计量
- 文章访问数: 278
- HTML全文浏览量: 29
- PDF下载量: 204
- 被引次数: 0
出版历程
- 收稿日期: 2019-03-01
- 修回日期: 2019-05-31
- 刊出日期: 2020-06-30

Disturbance Compensation Control for Unmanned Undersea Vehicle Based on LMI

Kunming Branch of the 705 Research Institute, China Shipbuilding Industry Corporation, Kunming 650118, China

摘要

摘要: 针对无人水下航行器(UUV)航行时外界干扰复杂, 水动力导数计算不精确, 舵角受限以及存在非线性动态的问题, 提出了一种利用未知输入观测器对其未建模动态进行观测, 并依据李亚普诺夫函数设计干扰补偿控制律的方法, 同时考虑舵角饱和约束并将控制律设计过程转化为线性矩阵不等式最优化问题, 实现了对未知扰动的实时观测与补偿。将其应用到大型UUV航向航深控制上, 仿真结果表明, 该方法对未知输入具有很强的补偿能力, 提高了控制精度, 有效减少了控制律设计对水动力导数的依赖度, 改善了未知干扰作用下舵角的振荡特性。
- 无人水下航行器 /
- 干扰 /
- 线性矩阵不等式 /
- 未知输入观测器 /
- 饱和约束
Abstract: As regards the problems that an unmanned undersea vehicle(UUV) is subjected to complex external disturbance, the calculation of hydrodynamic derivative is inaccurate, the rudder angle is restricted, and nonlinear dynamic exists, a disturbance compensation control law is designed based on the Lyapunov function and the unknown input observer(UIO) to observe the unmodeled dynamics. After considering the rudder angle saturation constraint and transforming the control law design process into the optimization problem of linear matrix inequality, real-time observation and compensation of unknown disturbance are realized. Simulation results show that the proposed method has the ability to compensate disturbance and improve control precision, which facilitates the course and depth control of UUV, effectively reduces the dependence of the control law design on the hydrodynamic derivative, and improves the oscillation characteristics of rudder angle under unknown disturbance.
- unmanned undersea vehicle(UUV) /
- disturbance /
- linear matrix inequality(LMI) /
- unknown input observer(UIO) /
- saturation constraint

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参考文献(13)

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