| 深海采矿车的轨迹跟踪控制算法与仿真 |
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| 引用本文： | 王随平,张海宁,李闪阁.深海采矿车的轨迹跟踪控制算法与仿真[J].中原工学院学报,2010,21(1):5-7,78. |
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| 作者姓名： | 王随平 张海宁 李闪阁 |
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| 作者单位： | 中南大学,信息科学与工程学院,长沙,410083 |
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| 基金项目： | 国际海底区域研究开发"十五"项目，国家重点基础研究发展规划项目 |
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| 摘 要： | 根据深海采矿车的运动学模型,考虑随机打滑率等干扰影响,采用分层控制的思想将采矿车的轨迹跟踪控制分为2部分:轨迹跟踪模糊控制器和速度PID控制器.基于连续状态反馈的有限时间控制算法,结合模糊逻辑控制器,设计了一种连续的状态反馈轨迹跟踪控制算法,仿真结果表明了该方法的有效性.
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| 关 键 词： | 深海采矿车 轨迹跟踪 分层控制 有限时间 |
A Trajectory Tracking Control Algorithm and Simulation of Deep-sea Mining Vehicle |
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| WANG Sui-ping,ZHANG Hai-ning,LI Shan-ge.A Trajectory Tracking Control Algorithm and Simulation of Deep-sea Mining Vehicle[J].Journal of Zhongyuan Institute of Technology,2010,21(1):5-7,78. |
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| Authors: | WANG Sui-ping ZHANG Hai-ning LI Shan-ge |
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| Affiliation: | WANG Sui-ping,ZHANG Hai-ning,LI Shan-ge(Central South University,Changsha 410083,China) |
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| Abstract: | Based on the deep-sea mining vehicle's kinematic model and take consideraing of the random disturbance,the trajectory tracking control system is designed into two parts:the trajectory tracking fuzzy controller and the velocity-PID controller.Using finite time control techniques for continuous systems and combining with fuzzy-logic controller,a continuous state feedback control algorithm for trajectory tracking is developed,simulation results show the theoretical results. |
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| Keywords: | deep-sea mining vehicle trajectory tracking hierarchy system finite time |
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