基于MPSO的改进水下机器人PD控制器

2009 International Asia Conference on Informatics in Control, Automation and Robotics Pub Date : 2009-02-01 DOI:10.1109/CAR.2009.16

Chongyang Lv, Y. Pang, Lei Zhang

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引用次数: 3

摘要

传统的水下机器人运动控制器以单自由度解耦为目标，忽略了各自由度的耦合效应，在一些复杂的导航状态下性能较差。为了补偿耦合效应，设计了一种新的PD控制器。该控制器以六自由度水下航行器的水动力模型为基础，并根据实际需要进行了简化。用一个运动控制方程来实现四自由度的控制。由于控制参数数量较多，难以进行人工调整，因此采用改进的粒子群优化算法(MPSO)对控制方程参数进行优化，以提高效率，减少主观因素带来的不良影响。最后，基于某水下机器人的仿真平台，对所提出的控制器进行了仿真实验，结果表明所提出的控制器在水下机器人上的应用是可行的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Improved PD Controller for AUV Bsed on MPSO

Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs. It uses one motion control equation to realize the control in four-DOFs. Because the number of the control parameters is so large, it is hard to adjust them manually, so a modified Particle Swarm Optimization(MPSO) algorithm is used to optimize the parameters of control equation to improve efficiency and reduce the bad effect caused by subjective factors. Finally based on the simulation platform of a certain AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.

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来源期刊

2009 International Asia Conference on Informatics in Control, Automation and Robotics

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