水下机器人抗积分饱和控制及主动容错控制方法(PDF)
《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]
- 期数:
- 2010年06期
- 页码:
- 0
- 栏目:
- 出版日期:
- 2010-06-25
文章信息/Info
- Title:
- Antiwindup control and active fault tolerant control methods for autonomous underwater vehicles
- Author(s):
- YANG Liping; ZHANG Mingjun; CHU Zhenzhong; WANG Yujia
- (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China)
- 分类号:
- TP24
- DOI:
- -
- 文献标识码:
- A
- 摘要:
- 针对自主式水下机器人(AUV)推力饱和时一般模型控制器控制性能下降问题，提出了基于平滑变参数条件积分法的抗积分饱和控制方法.为适应AUV因抛载等引起的动力学性能变化，提出了一种基于抗积分饱和一般模型控制的主动容错控制方法，同时还研究了传感器故障问题并提出了一种传感器故障容错控制方法.进行了"海狸"号水下机器人试验样机的仿真及水池实验，实验结果验证了所提出的抗积分饱和控制方法的有效性，也验证所提出的容错控制方法在AUV发生故障及动力学性能变化时可有效减小速度、角速度跟踪误差.
参考文献/References
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备注/Memo
- 备注/Memo:
- 教育部博士点科研基金资助项目（20070217017）.
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