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Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV
- Chinese Journal of Intelligent Science and Technology Vol. 4, Issue 4, Pages: 513-521(2022)
- 作者机构：
1. 东南大学自动化学院，江苏 南京 210096
2. 安徽大学人工智能学院，安徽 合肥 230031
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202251
CLC： TP242.3-
Published Online：2022-12，
Published：15 December 2022
- 稿件说明：
移动端阅览
Yihang XU, Jian LIU, Changyin SUN. Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV[J]. Chinese journal of intelligent science and technology, 2022, 4(4): 513-521.
Yihang XU, Jian LIU, Changyin SUN. Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV[J]. Chinese journal of intelligent science and technology, 2022, 4(4): 513-521. DOI： 10.11959/j.issn.2096-6652.202251.
摘要
提出了一种基于四元数的单向量反馈自治式潜水器（AUV）位姿控制算法，使用向量表示控制量和姿态或位置的误差。此算法突破了欧拉角姿态下存在姿态死区的局限，解决了 AUV 任意方向多圈旋转问题。使用该算法实现了全驱动碟形AUV的位置和姿态控制。利用MATLAB的SIMSCAPE工具箱建立碟形AUV模型，并使用离散数字控制器进行仿真，验证了算法的稳定性。实验结果表明，在碟形 AUV 的位姿控制任务中，四元数反馈控制算法可以使碟形 AUV 系统在外部控制的作用下，从一个任意状态到达状态空间中的另一个任意状态。本算法将机体姿态视为单个闭环，相比基于欧拉角的控制方案，收敛域更大、参数更少，降低了实际设备的调试难度，在工程应用中更加便利。
Abstract
The single vector quaternion feedback control algorithm for the Special Topic: Autonomous Underwater Vehicle (AUV) was proposed
which used vectors to represent control input and attitude errors.This algorithm solved the attitude dead zone and multi-turn rotation problem in Euler angle attitude.The above algorithm could realize the attitude and position control in a fully-actuated dish-shaped AUV.In order to demonstrate the efficacy of the algorithm mentioned
the physical model of the dish-shaped AUV was built in the simulation and a digital controller was designed based on quaternion feedback.The experimental results showed that the quaternion feedback control algorithm could make the dish-shaped AUV system move from one arbitrary state to another arbitrary state in the state space.The algorithm regarded the body attitude or position as a single closed loop
thus having larger convergence domain and requiring fewer parameters to tuning than the scheme using Euler angles
which made the debugging of dish-shaped AUV control parameters easier and more convenient in engineering application.
关键词
Keywords
references
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