Distributed autonomous underwater vehicle attitude collaborative optimization control method

A technology of an underwater vehicle and a control method, applied in the field of navigation, can solve problems such as uncontrollable input optimization design, and achieve the effect of stable performance indicators

Active Publication Date: 2019-10-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In order to overcome the deficiency that the nonlinear feedback control algorithm in the prior art cannot optimize the design of the control input, the present invention provides a distributed Attitude cooperative optimization control method for autonomous underwater vehicle

Method used

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  • Distributed autonomous underwater vehicle attitude collaborative optimization control method
  • Distributed autonomous underwater vehicle attitude collaborative optimization control method
  • Distributed autonomous underwater vehicle attitude collaborative optimization control method

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Embodiment Construction

[0067] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0068] Step 1: Considering that the autonomous underwater vehicle is a rigid body, the distributed autonomous underwater vehicle attitude system is regarded as a multi-rigid body attitude system, and the distributed autonomous underwater vehicle attitude system is constructed as a fuzzy system by using fuzzy theory. Firstly, the attitude model of the distributed autonomous underwater vehicle is given as follows:

[0069]

[0070] In the formula, J represents the inertia matrix of the underwater vehicle; η i and η i0 denote the unit quaternion vector and scalar part used to describe the attitude of the underwater vehicle, respectively; ω i Indicates the attitude angular velocity; u i and f i Respectively represent the control input and external disturbance input acting on the underwater vehicle. Transform equation (1) into a state space equation as shown b...

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Abstract

The invention relates to a distributed autonomous underwater vehicle attitude collaborative optimization control method. An autonomous underwater vehicle is considered as a rigid body; a distributed autonomous underwater vehicle attitude system is considered as a multi-rigid-body attitude system; and the distributed autonomous underwater vehicle attitude system is constructed into a fuzzy system through a fuzzy theory. In order to overcome disturbance existing in an external environment, an integral sliding mode controller is designed according to the constructed fuzzy system, and the equivalent control system of movement on a sliding mold surface is solved. A distributed state feedback nominal controller is designed according to the equivalent control system on the sliding mold surface; and conditions which can ensure the stability and optimal performance index of the system are given according to a linear quadratic type optimal regulator theory, so that the optimal parameters of thenominal controller are designed. With the method provided by the invention adopted, control input can be optimally designed, so that the system can achieve expected control performance with small control input.

Description

technical field [0001] The invention belongs to the technical field of navigation, and relates to an attitude control method of a distributed autonomous underwater vehicle, in particular to an attitude cooperative optimization control method of a distributed autonomous underwater vehicle based on optimal control theory and fuzzy system theory. Background technique [0002] The document "Attitude synchronization of multiple rigid bodies with communication delays, IEEE Transactions on Automatic Control, 2012, 57(9): 2405-2411" discloses a multi-rigid body nonlinear feedback attitude cooperative control method. In this method, the attitude consistency problem of multi-rigid body system is studied, and a nonlinear feedback control algorithm is designed. The technical problem of the nonlinear feedback control algorithm described in the literature is that the mature optimization algorithm in the linear control method cannot be used to optimize the control input, resulting in the c...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0875
Inventor 张卓李慧平崔荣鑫严卫生高剑
Owner NORTHWESTERN POLYTECHNICAL UNIV
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