使用积分二次约束的自主式水下航行器控制设计与分析

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Sourav Sinha , Mazen Farhood , Daniel J. Stilwell
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引用次数: 0

摘要

本文采用基于积分二次约束(IQC)的鲁棒性分析框架,对自主潜水器(AUV)的路径跟踪控制器进行了设计和分析。AUV 被建模为不确定性线性分数变换 (LFT),并受到测量噪声和洋流等外生输入的影响。所提出的方法利用基于学习的方法,用线性参数变化模型来近似非线性流体动力学模型。此外,在 AUV 的其他子系统模型中加入了建模不确定性,以捕捉假设的数学抽象输出与实验数据之间的差异。由此产生的不确定 LFT 系统可在所需范围内充分捕捉 AUV 的行为。洋流干扰被视为 LFT 系统中的不确定因素,并被适当描述以减少保守性。通过 IQC 分析获得的鲁棒性能水平可作为控制器性能的定性衡量标准,并用于指导控制器的设计过程。所提出的方法被用于为 AUV 设计 H∞ 和 H2 控制器。随后进行了基于 IQC 的综合分析,以证明所设计的控制器对模型不确定性和干扰的鲁棒性。为了验证分析结果,进行了大量的非线性模拟和水下实验。结果表明了所提出的方法在实现 AUV 鲁棒控制方面的有效性和可靠性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control design and analysis for autonomous underwater vehicles using integral quadratic constraints
This paper addresses the design and analysis of path-following controllers for an autonomous underwater vehicle (AUV) using a robustness analysis framework based on integral quadratic constraints (IQCs). The AUV is modeled as a linear fractional transformation (LFT) on uncertainties and is affected by exogenous inputs such as measurement noise and ocean currents. The proposed approach leverages a learning-based method to approximate the nonlinear hydrodynamic model with a linear parameter-varying one. Additionally, modeling uncertainties are incorporated into the other subsystem models of the AUV to capture the discrepancies between the outputs of the postulated mathematical abstractions and the experimental data. The resulting uncertain LFT system adequately captures the AUV behavior within a desired envelope. Ocean current disturbances are treated as uncertainties within the LFT system and properly characterized to reduce conservatism. The robust performance level, obtained from IQC analysis, serves as a qualitative measure of a controller’s performance, and is utilized in guiding the controller design process. The proposed approach is employed to design H and H2 controllers for the AUV. A comprehensive IQC-based analysis is subsequently conducted to demonstrate the robustness of the designed controllers to modeling uncertainties and disturbances. To validate the analysis results, extensive nonlinear simulations and underwater experiments are performed. The outcomes showcase the efficacy and reliability of the proposed approach in achieving robust control for the AUV.
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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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