Adaptive heading control of unmanned wave glider with heading information fusion

The unmanned wave glider (UWG) is a new kind of wave powered unmanned marine vehicle for persistent marine environment monitoring. However, the heading control of UWG is unusual, mainly about the heading control of the surface float body (Float), since it is indirectly actuated and with a large lag of the control response. The adaptive heading control method for the Float with heading information fusion is discussed. The basic and improved arrangement methods of the desired heading of Glider are proposed. Via direct heading control of Glider, the heading control of Float is realized indirectly. Simulation and sea trial results demonstrate that the proposed adaptive heading control method improves the heading control performance of UWG significantly.     

基于HMR3300的船模舵机控制平台设计与实现

HMR3300是常见的较精准的航向采集传感设备,在此设备基础上,利用无线传输模块,搭建船模岸基控制平台,设计航向控制算法,并将得出的舵机控制信息反馈到船模上,进行舵机角度调整,最终实现船模的航向控制.通过硬件实现,分析无干扰和有干扰两种状态下的航向趋势,得到了良好的验证效果,平台系统可以有效地实现对船模的航向控制.     

Combined depth and heading control and experiment of ROV under the influence of residual buoyancy,current disturbance,and control dead zone

To improve the underwater control effect of a Remotely Operated Vehicle (ROV) with residual buoyancy, current disturbance, and control dead zone, the depth and heading combined control of ROV is studied to improve the control accuracy of the control system. First, the heading control with fixed depth is divided into heading control and depth control. The tanh-sigmoid-surface control laws for designed degrees of freedom are designed by using tanh function. To suppress the influence of residual buoyancy and control law dead zone in depth control, and to offset the influence of control law dead zone of ROV thruster control, a reserved control quantity is introduced to map the depth deviation and control dead zone with residual buoyancy into a control deviation quantity. An adaptive amplification factor method is proposed for the amplification factors of depth control, speed control, and heading control. The proportional coefficient is adopted to make that the balance among rise time, convergence speed, and overshoot can be achieved by adjusting the proportional coefficient. Then the corresponding tanh-sigmoid-surface controller module is designed in MOOS-IvP environment to track the desired heading and depth. The proposed controller refines fuzzy rules and reduces the complexity of parameter adjustment. Compared with the classical proportional, integral, and derivative control method, the experiment results show that the proposed method can resist the influence of residual buoyancy, current disturbance, and control dead zone and has a better control effect with less control error in depth and heading determination.     

轮式移动机器人航向跟踪预估控制算法

本文提出了一种轮式移动机器人航向跟踪预估控制算法,航向预估量根据机器人前 轮偏角和纵向速度实时得出,预估量与机器人实际航向之和作为控制反馈航向.仿真和实验 时用PID控制器和航向预估算法结合进行航向跟踪,结果表明该算法与常规PID算法相比,对 机器人纵向速度适应范围较宽,能有效地改善控制器的动态特性,表现出了较好的自适应能 力.     

微小型飞行器航向系统设计

从实用的角度出发，给出了微小型飞行器的航向系统(包括航向测量和航向控制)体系结构．设计了地磁航向、捷联航向、GPS航向等3种常用的航向测量手段在微小型系统中的实现方案，分析了其各自的优、缺点，提出了一种实用的、基于数据融合的航向获取方法．在航向测量的基础上，又设计了针对微小型飞行器的航向控制方案，并应用于某小型固定翼飞行器的飞行控制系统中．进行了自主飞行试验，取得了预期的试验效果．     

无人直升机航向自抗扰控制

针对无人直升机系统航向通道扰动大等问题,本文设计了一种自抗扰控制算法来实现其高性能控制.首先分析了航向通道的动态模型,并通过数学变换,将其转化为一类二阶系统;在此基础上,本文设计了适用于无人机航向通道的自抗扰控制策略,它由跟踪微分器、扩展状态观测器、控制器3个环节构成.本文对所设计的自抗扰控制策略进行了仿真和实验测试,并与常见的串级控制方法进行了对比分析.仿真与实验结果表明:这种自抗扰控制策略具有对扰动抑制能力强、控制精度高等优点,其控制性能明显优于常规的串级比例–积分–微分控制方法.     

基于模糊自适应ADRC的全垫升气垫船航向控制

为改善全垫升气垫船航向控制,设计了基于模糊自适应自抗扰控制(ADRC)的全垫升气垫船航向控制器.一方面利用扩张状态观测器估计内、外扰动,并且根据总扰动估计量对系统进行补偿;另一方面利用模糊推理实时优化ADRC控制参数.仿真结果表明,在恶劣环境下基于模糊自适应ADRC的全垫升气垫船航向控制器具有自适应性强,响应速度快,稳定性好等特点.     

恶劣海况下船舶航向保持控制的新方法

提出一种采用基本滤波器和辅助滤波器进行船 舶航向保持控制的新方法．计算机仿真结果表明,在恶劣海况下,这种航向保持自动操舵仪 具有很高的航向保持精度．     

常规控制和模糊PID控制在全垫升气垫船航向控制中的应用

本文详细的介绍了常规控制和模糊PID控制在全垫升气垫船的航向控制中的应用。气垫船是一种高性能船,其航向较常规船舶更难于控制。本文设计了常规PID控制和模糊PID控制器两种控制方法,并对气垫船的航向控制进行了仿真,从仿真结果可以看出,在气垫船受风力的作用下,模糊PID控制器在克服干扰方面具有比常规PID控制更好的效果。     

基于GA-BP神经网络的UUV航向容错控制

为提高UUV航向控制系统的可靠性,本文对传统的BP神经网络利用遗传算法进行了优化设计,并将优化的BP神经网络应用于UUV的航向容错控制中。首先利用改进的二阶灰色预测模型对光纤罗经进行故障诊断,若UUV罗经故障,根据UUV当前的舵角、航速与加速度信息重构航向信息,利用重构的航向数据代替光纤罗经的航向输出,实现对光纤罗经的航向容错控制。本文详细阐述了容错控制方法的实现步骤,并利用海试实验数据进行了仿真验证,仿真结果表明所提出的方法能快速、准确的诊断出光纤罗经的故障,并能较好的实现光纤罗经的航向容错。     

Leader-follower finite-time formation control of multiple quadrotors with prescribed performance

This paper investigates the leader-follower formation problem for a group of quadrotors. Finite-time control scheme and prescribed performance control method, which are regarded as two highlights, are introduced in this paper. First, a control scheme with prescribed performance is used to control the translational movements to ensure the quadrotors obtain a relative gentle transient process and an adjustable steady-state error bound. Then, the desired orientations for the rotation subsystem provided by translational movements part are stabilised by a fixed-time control law. Finally, by designing a finite-time formation controller, followers can track the desired position and heading angle in finite time, which is important for the practical application. Several simulation results are given to show the effectiveness of the designed control strategy.     

磁航向传感器在无人机飞行控制系统中的应用

磁航向传感器V2XG利用"磁感法"测量地磁航向,有成本低、易集成等特点。将V2XG应用于无人飞机的航向控制回路,设计了传感器的接口电路,给出了零位误差和灵敏度误差的消除方法。实测结果表明,航向测量准确度达到±2°,采样频率达到5Hz,设计方案有较高性价比,满足了无人机飞行控制对航向测量的要求。     

A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoral fins

This study aims to develop a waypoint-tracking control system for a biomimetic underwater vehicle (BUV). The BUV is propelled by wide paired pectoral foils, and each pectoral foil is driven by three independent fin rays. To simplify the control strategy, the maximum flapping amplitude of the pectoral fin is used to control the forward velocity, and a turning factor is defined for the manoeuvre control. Several swimming experiments are carried out to investigate the influence of the control parameters on the swimming performance of the prototype. Based on the results of the swimming experiments, a waypoint-tracking control system is proposed, which contains two layers: the velocity control layer and the heading angle control layer. A subdivision control method is adopted by the velocity control layer to get the maximum flapping amplitude. The fuzzy control method is employed by the heading angle control layer to obtain the turning factor for steering motion. Several waypoint-tracking experiments are carried out to verify effectiveness of the control system. The results show that the prototype can automatically reach the target area with the designed control system, even though the waypoints are arranged or randomly given.     

油气田环境巡视小型无人飞行器航姿控制系统

针对小型无人飞行器在油气田现场采集信息时的高精度控制问题,提出一个自适应卡尔曼滤波算法来获得高精度姿态信息,并采用优化模糊控制方法构建航向控制算法．基于航向误差在线调整飞控参数,为远程控制中心提供精确的油气田现场信息来提高决策效率．最后,通过一系列的仿真和实际飞行试验验证了该方法的有效性．     

基于高增益观测器的船舶动力定位系统的输出反馈控制

针对动力定位船舶的速度向量不可测的问题, 考虑外部环境扰动, 将高增益观测器、动态面控制技术和矢量backstepping方法相结合, 设计仅依赖于船舶位置和艏摇角测量值的船舶动力定位系统输出反馈控制律. 动态面控制技术的引入, 使控制律结构简单, 易于工程实现. 应用Lyapunov函数证明了所设计的控制律能迫使船舶的位置和艏摇角收敛于期望值, 并保证船舶动力定位输出反馈闭环系统所有信号均一致最终有界. 基于一艘供给船的仿真研究验证了所设计的基于高增益观测器的船舶动力定位输出反馈控制律的有效性.     

On Constrained Nonlinear Tracking Control of a Small Fixed-wing UAV

The problem of constrained nonlinear tracking control for a small fixed-wing unmanned air vehicles (UAV) is considered. With the UAV equipped with low-level autopilots, the twelve-state model of the UAV is reduced to a six-state model with heading, air speed, and altitude command inputs. Three different approaches based on the state dependent Riccati equation (SDRE), Sontag’s formula, and aggressive selection from a satisficing control set are proposed to design the heading and air speed control commands. Those approaches are compared with each other graphically to show their strength and weakness under different scenarios. High-fidelity simulation results on a six-degree-of-freedom twelve-state fixed-wing UAV model are presented to demonstrate the performance of the three approaches.     

一种船队编队控制的backstepping 方法

针对多船舶之间的协同合作问题,对船舶的编队控制进行了研究.通过运用领航者-跟随者方法,选择在Cartesian坐标系下建立新的船队编队控制模型,基于这种模型,利用反步技术和李亚普诺夫理论设计了一种可使船队按期望队形航行的船队编队控制器.通过考虑领队船舶与跟随船舶的航向角误差,保证了跟随船舶航向角的稳定性,从而避免其在航行过程中不断振荡.最后对所设计的控制方法的正确性及有效性进行了仿真验证.     

Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Among the promising application of autonomous surface vessels (ASVs) is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform, a broken ship, or a ship in port areas. Considering the real conditions and operations of maritime practice, this paper proposes a multi-agent control algorithm to manipulate a ship to a desired position with a desired heading and velocity under the environmental disturbances. The control architecture consists of a supervisory controller in the higher layer and tug controllers in the lower layer. The supervisory controller allocates the towing forces and angles between the tugs and the ship by minimizing the error in the position and velocity of the ship. The weight coefficients in the cost function are designed to be adaptive to guarantee that the towing system functions well under environmental disturbances, and to enhance the efficiency of the towing system. The tug controller provides the forces to tow the ship and tracks the reference trajectory that is computed online based on the towing angles calculated by the supervisory controller. Simulation results show that the proposed algorithm can make the two autonomous tugs cooperatively tow a ship to a desired position with a desired heading and velocity under the (even harsh) environmental disturbances.      

某型捷联航姿系统自动测试设备设计与实现

为了在地面准确地检测和测试某新型航姿系统各项性能是否满足飞行要求，介绍了一种航姿系统自动测试设备设计方法，该设备的核心是集成了422卡、429卡、D／A卡和A／D卡功能的工业控制计算机以及自动测试软件。提出了该设备的设计要求，从自动测试设备的硬件设计和软件设计等方面，分别给出了具体的实现方法。实验证明，该设备在工厂生产过程中能对航姿系统进行高速、高效的功能测试；装备部队以后，使得部队地勤维护人员能快速准确地检测出航姿系统故障信息，提高了部队快速机动以及装备维修保障能力。     

Research on disturbance rejection motion control method of USV for UUV recovery

The recovery of unmanned underwater vehicle (UUV) by unmanned surface vehicle (USV) has the characteristics of autonomy, safety, and efficiency. Taking the recovery of UUV by USV as the engineering background, this paper studies the guidance and anti-interference motion control of USV in the recovery process. Aiming at the problem of dynamic guidance when recovering UUV, the USV guidance strategy for UUV recovery is studied. Fuzzy guidance is introduced as the dynamic terminal guidance method, and a layered guidance strategy combining classical guidance and fuzzy guidance is proposed. On the basis of the theory of compact form dynamic linearization-based model-free adaptive control (CFDL-MFAC), the motion control of USV in the process of recovering UUV under the influence of model perturbation, external interference, and other uncertainties is studied. Theoretical analysis and experimental results show that there is a contradiction in the matching of dynamic change speed between the USV heading control subsystem and CFDL-MFAC. By introducing the difference item into the standard control criterion to weaken the integral effect in the heading control subsystem of USV, a difference-type compact format model-free adaptive control method (DCFDL-MFAC) is proposed, and the stability of DCFDL-MFAC method is proved theoretically. The effectiveness and practicability of the proposed method are verified by simulation tests and field tests of “Dolphin IB” small USV.