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基于四元数反馈的UVMS滑模控制器设计

杜晓玮 侯冬冬 王红都 黎 明

杜晓玮, 侯冬冬, 王红都, 黎 明. 基于四元数反馈的UVMS滑模控制器设计[J]. 水下无人系统学报, 2021, 29(4): 407-414. doi: 10.11993/j.issn.2096-3920.2021.04.006
引用本文: 杜晓玮, 侯冬冬, 王红都, 黎 明. 基于四元数反馈的UVMS滑模控制器设计[J]. 水下无人系统学报, 2021, 29(4): 407-414. doi: 10.11993/j.issn.2096-3920.2021.04.006
DU Xiao-wei, HOU Dong-dong, WANG Hong-du, LI Ming. Sliding Mode Controller Design Based on Quaternion Feedback for UVMS[J]. Journal of Unmanned Undersea Systems, 2021, 29(4): 407-414. doi: 10.11993/j.issn.2096-3920.2021.04.006
Citation: DU Xiao-wei, HOU Dong-dong, WANG Hong-du, LI Ming. Sliding Mode Controller Design Based on Quaternion Feedback for UVMS[J]. Journal of Unmanned Undersea Systems, 2021, 29(4): 407-414. doi: 10.11993/j.issn.2096-3920.2021.04.006

基于四元数反馈的UVMS滑模控制器设计

doi: 10.11993/j.issn.2096-3920.2021.04.006
基金项目: 河南省水下智能装备重点实验室开放基金(KL02A1802)
详细信息
    作者简介:

    杜晓玮(1995-), 女, 在读硕士, 主要研究方向为水下机器人-机械手系统建模与运动控制.

  • 中图分类号: TP241 TJ630.32

Sliding Mode Controller Design Based on Quaternion Feedback for UVMS

  • 摘要: 随着水下机器人-机械手系统(UVMS)向轻量化、敏捷化方向发展, 对高精度水下姿态控制的需求日益突出。传统方法多使用欧拉角表示姿态, 其在特殊姿态下求运动学逆解会产生奇异, 不能满足特殊姿态作业的要求。因此, 文中采用四元数表示水下机器人本体姿态, 建立基于四元数的运动学模型, 避免了欧拉角的万向锁问题。同时, 进一步构建了UVMS的动力学模型, 构造基于四元数误差的滑模面, 设计了位置、姿态滑模控制器, 并通过广义Lyapunov理论分析了系统的稳定性。为了实现更好的控制效果, 利用时间误差绝对值函数设计适应度函数, 采用遗传算法优化了控制器参数。仿真结果验证了控制器的有效性。

     

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    Li Xiao-gang, Wang Hong-du, Li Ming. Nonlinear PD Controller Design for Autonomous Undersea Vehicle-Manipulator System[J]. Journal of Unmanned Undersea Systems, 2020, 28(1): 24-32.
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  • 刊出日期:  2021-08-31

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