具有比例－微分及滑動模式架構之水下遙控載具導航控制器設計

Guidance and Control of a Remotely Operated Vehicle for Underwater Inspection Using a Proportional-Derivative and Sliding Mode Controller

郭振華(J. Guo) ； 蔡進發(J. F. Tsai) ； 許峰源(F. Y. Shu) ； 林振濱(J. B. Lin)

《中國造船暨輪機工程學刊》 22卷1期 (2003/02) Pp. 47-52

https://doi.org/10.29982/JTSNAME.200302.0006

摘要

本文針對水下檢測用遙控載具「海影一號」，探討其導航器及控制器之設計問題。「海影一號」載具之導航方法，乃先規劃合理的路徑，並計算路徑參考點之座標及速度，再利用控制器追隨所規劃之考點，藉由修正位置、方向及速度，將誤差項消弭，以追隨至所預期之路徑，完成導航性能。載具之控制之器乃一複合式之控制方法，其中包括比例微分及滑動模式控制法兩部分，分別控制系統中線性及非線性項。經由Lyapunov直接法，可證明導航器、控制器之穩定性，以及控制器參數與誤差收斂速度間之指數關係。本文最後使用「海影一號」水下載具，驗證所設計之導航控制方法之有效性。

關鍵字

水下載具 ； 自動控制 ； 導航

並列摘要

We design a stable tracking method for a semi-autonomous platform to support routine underwater inspections of underwater structures. A reasonable inspection path of the vehicle is first planned, input signals such as reference posture and reference velocities to the vehicle are calculated. Then a tracking controller is used to track those input commands. The tracking controller has a structure similar to the well-known PD control and the sliding mode control. The stability of this tracking method is proved through the uses of a Lyapunov function. It was also shown that the tracking error is exponentially convergent. Simple relation between control parameters and the exponential factor was derived. Finally, the effectiveness of the method was verified using a series of water tank experiments.

並列關鍵字

Underwater Vehicles ； Control ； Guidance