基于四元数的全驱动碟形AUV单矢量反馈控制

许一航; 刘剑; 孙长银

doi:10.11959/j.issn.2096-6652.202251

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基于四元数的全驱动碟形AUV单矢量反馈控制

专题：水下机器人 | 更新时间：2024-06-05

- 基于四元数的全驱动碟形AUV单矢量反馈控制
- Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV
- 智能科学与技术学报 2022年4卷第4期页码：513-521
- 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：
  
  [ "许一航（1997- ），男，东南大学自动化学院博士生，主要研究方向为水下机器人控制技术、水下伺服驱动技术" ]
  [ "刘剑（1992- ），男，博士，东南大学自动化学院副研究员，主要研究方向为自主无人系统协同控制、固定时间控制" ]
  [ "孙长银（1975- ），男，博士，安徽大学党委常委、副校长，二级教授、博士生导师，自主无人系统技术教育部工程中心主任。中国高等教育学会科技服务专家指导委员会副主任，中国自动化学会会士、常务理事、副秘书长、人工智能与机器人教育专委会主任，《智能科学与技术学报》副主编。主要研究方向为自主无人系统协同控制、智能控制理论及其应用、非线性系统分析与优化、模式识别等" ]
- 基金信息：
  
  国家自然科学基金资助项目;The National Natural Science Foundation of China(61921004);国家自然科学基金资助项目;The National Natural Science Foundation of China(62103099);江苏省前沿引领技术基础研究专项;Natural Science Foundation of Jiangsu Province of China(BK20202006);中央高校基本科研业务费;The Fundamental Research Funds for the Central Universities(2242022R42003)
- DOI：10.11959/j.issn.2096-6652.202251
  中图分类号： TP242.3
- 网络出版日期：2022-12，
  
  纸质出版日期：2022-12-15
- 稿件说明：
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许一航, 刘剑, 孙长银. 基于四元数的全驱动碟形AUV单矢量反馈控制[J]. 智能科学与技术学报, 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.
许一航, 刘剑, 孙长银. 基于四元数的全驱动碟形AUV单矢量反馈控制[J]. 智能科学与技术学报, 2022,4(4):513-521. DOI： 10.11959/j.issn.2096-6652.202251.

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.

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references

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