基于跟踪误差约束的机器鱼抗扰动路径跟踪控制
Disturbance-resistant path-tracking control method for robotic fish with tracking error constraints
李东方 1张滨新 1曾林林 1黄捷 1宋爱国2
作者信息
- 1. 福州大学电气工程与自动化学院 福州 350108
- 2. 东南大学仪器科学与工程学院 南京 214135
- 折叠
摘要
为了解决机器鱼在扰动下跟踪效率低的问题,本工作提出了一种抗扰动和自适应的误差约束控制方案.首先,通过设计虚拟控制输入,并利用积分环节更新了自适应视线制导律,消除了侧滑导致的运动位置偏离,增强了机器人的抗干扰能力.其次,通过构造机器鱼的偏航和浪涌自适应控制器,使神经网络函数拟合模型的不确定项和水流扰动,并用逼近值补偿系统的控制输入.这提升了机体的环境适应性.最后,利用障碍Lyapunov理论,机器鱼跟踪位置和角度的一致最终有界性被证明.通过模拟和实验,与经典制导方案相比,所提方案提高了机器鱼的跟踪效率和稳态性能,使机器鱼的位置误差收敛速率平均提升了 14.57%.
Abstract
To address the issue of low tracking efficiency of robot fish under disturbance,this study proposes an anti-disturbance and adaptive error constraint control scheme.Firstly,by designing a virtual control input and updating the adaptive line-of-sight guidance law using integral link,the motion position deviation caused by side slip is eliminated and the robot's anti-interference ability is enhanced.Secondly,by constructing an adaptive controller for yaw and surge of the robot fish,the neural network function fits uncertainties and flow disturbances in the model,compensating for system control input with an approximation value.This improves the body's adaptability to environmental conditions.Finally,utilizing obstacle Lyapunov theory,consistent final boundedness of robot fish tracking position and angle is proven.Through simulation and experiment,compared with the classical guidance scheme,the proposed scheme improves the tracking efficiency and steady-state performance of the robot fish,and the position error convergence rate of the robot fish is increased by 14.57% on average.
关键词
机器鱼/误差约束/自适应视线制导/抗扰动/路径跟踪Key words
robotic fish/error constraint/adaptive LOS/anti-interference/path-tracking引用本文复制引用
基金项目
国家自然科学基金(62302117)
全国博士后"香江学者"计划(XJ2023018)
第71批中国博士后科学基金面上一等项目(2022M710093)
福州大学启动基金(XRC21061)
出版年
2024
NETL
NSTL
万方数据