CAJ | 학술논문

针对水下无人潜航器(Unmanned Underwater Vehicle,UUV)路径跟踪过程中存在的非最小相位特性,提出了一种基于稳定逆的 UUV 路径跟踪控制方法.根据稳定逆的思想,首先,求取跟踪系统内动态的有界解;通过求解过程,设计了跟踪系统基于期望轨迹的稳定逆;由稳定逆产生期望控制输入和期望的状态轨迹,反馈控制器实现了系统在线完成对期望轨迹的精确跟踪.仿真实验证实该方法可以实现 UUV 对规划路径的精确跟踪.
침대수하무인잠항기(Unmanned Underwater Vehicle,UUV)로경근종과정중존재적비최소상위특성,제출료일충기우은정역적 UUV 로경근종공제방법.근거은정역적사상,수선,구취근종계통내동태적유계해;통과구해과정,설계료근종계통기우기망궤적적은정역;유은정역산생기망공제수입화기망적상태궤적,반궤공제기실현료계통재선완성대기망궤적적정학근종.방진실험증실해방법가이실현 UUV 대규화로경적정학근종.
@@@@A feedback control algorithm using stable inversion is proposed owing to the presence of non-minimum phase characteristic during UUV path following process. In virtue of the idea of stable inversion, a bounded solution of internal dynamic for the system is obtained firstly. With the solution process, stable inversion of path following system is designed based on the expected path. Expected control inputs and the expected state path are generated as the outcomes using stable inversion. And the feedback control makes the exact path following for a predefined path. Simulation has proved the efficient of the proposed method.