强欠驱动球形水下监视机器人的轨迹控制方法

2021 IEEE 25th International Conference on Intelligent Engineering Systems (INES) Pub Date : 2021-07-07 DOI:10.1109/INES52918.2021.9512931

I. Astrov, A. Udal, H. Mõlder

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引用次数: 1

摘要

在当今无处不在的普适计算、物联网和工业4.0时代，无人驾驶汽车和机器人的有效计算机控制是一项日益重要的任务。本文讨论了一种具有强欠驱动控制和高度非线性动力学模型的45kg级球形水下监视机器人(Autonomous underwater Vehicle AUV)的非线性轨迹控制方法。本文在Simulink/MATLAB环境下给出并仿真了一种特殊设计的非线性控制器，该控制器能够保证该水下机器人在二维空间中可靠地向目标方向运动，并以期望的航向角运动。该控制器易于工程实现。该类型的监控机器人可用于智慧城市港口水域的监控。

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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A Trajectory Control Method for a Strongly Underactuated Spherical Underwater Surveillance Robot

The effective computer control of unmanned autonomous vehicles and robots is a task of rapidly growing importance in the present era of ubiquitous pervasive computing, IoT, and Industry 4.0. Paper discusses a nonlinear trajectory control method of a recently proposed spherical underwater surveillance robot (Autonomous Underwater Vehicle AUV) of 45 kg weight class with strongly underactuated control and highly nonlinear model of dynamics. Paper offers and simulates in Simulink/MATLAB environment a specially designed nonlinear controller that is capable to assure reliable movement of this AUV in two-dimensional space towards desired target as well motion at desired heading angle. The proposed controller is easy for engineering implementation. It is concluded that this type of surveillance robots may be used for monitoring of water areas of Smart City ports.

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来源期刊

2021 IEEE 25th International Conference on Intelligent Engineering Systems (INES)

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