基于四元数的全驱动碟形AUV单矢量反馈控制

doi:10.11959/j.issn.2096-6652.202251

Abstract

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.

Key words: quaternion feedback, fully-actuated system, dish-shaped AUV

CLC Number:

TP242.3

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.

Figures/Tables 7

物理量	数值	单位
m	9.4	kg
g	9.8	N/m ²
d_V	0.25	m
d_P	0.25	m
$ζ_{x}, ζ_{y}, ζ_{z}$	0.5	N · m/(deg/s)
$η_{x}, η_{y}, η_{z}$	0.6	N/(m/s)
I_x,I_y	0.1847	kg · m ²
I_z	0.2749	kg · m ²

References 26

[1]	ALI F A , ARAS M S M , AZIS F A ,et al. Design and development of auto depth control of remotely operated vehicle using thruster system[J]. Journal of Mechanical Engineering and Sciences, 2014,7: 1141-1149.
[2]	CHEN W , HU S L , WEI Q Y . Design of ROV adaptive sliding mode control system for underwater vehicle based on RBF neural network[C]// Proceedings of 2021 33rd Chinese Control and Decision Conference. Piscataway:IEEE Press, 2021: 2976-2981.
[3]	KHODAYARI M H , BALOCHIAN S . Modeling and control of Special Topic:Autonomous Underwater Vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller[J]. Journal of Marine Science and Technology, 2015,20(3): 559-578.
[4]	CHEN C W , HUANG C H , DAI X K ,et al. Motion and control simulation of a dished autonomous underwater helicopter[C]// Proceedings of OCEANS 2017. Piscataway:IEEE Press, 2017: 1-6.
[5]	LYU C , PANG Y J , ZHANG L . Improved PD controller for AUV based on MPSO[C]// Proceedings of 2009 International Asia Conference on Informatics in Control,Automation and Robotics. Piscataway:IEEE Press, 2009: 24-28.
[6]	CUI R X , YANG C G , LI Y ,et al. Adaptive neural network control of AUVs with control input nonlinearities using reinforcement learning[J]. IEEE Transactions on Systems,Man,and Cybernetics:Systems, 2017,47(6): 1019-1029.
[7]	王日中, 李慧平, 崔迪 ,等. 基于深度强化学习算法的自主式水下航行器深度控制[J]. 智能科学与技术学报, 2020,2(4): 354-360.
	WANG R Z , LI H P , CUI D ,et al. Depth control of Special Topic:Autonomous Underwater Vehicle using deep reinforcement learning[J]. Chinese Journal of Intelligent Science and Technology, 2020,2(4): 354-360.
[8]	SONG S , KIM T S , SUNG M ,et al. Attitude control of AUV using multiple buoyancy engines for exploration and water column profiling[C]// Proceedings of 2018 IEEE/OES Special Topic:Autonomous Underwater Vehicle Workshop. Piscataway:IEEE Press, 2018: 1-5.
[9]	ZHANG S , DU X , XIAO J ,et al. Reinforcement learning control for 6 DOF flight of fixed-wing aircraft[C]// Proceedings of 2021 33rd Chinese Control and Decision Conference. Piscataway:IEEE Press, 2021: 5454-5460.
[10]	WEI Y R , DENG H B , PAN Z H ,et al. Research on a combinatorial control method for coaxial rotor aircraft based on sliding mode[J]. Defence Technology, 2022,18(2): 280-292.
[11]	LIU H B , WANG H P , SUN J L . Attitude control for QTR using exponential nonsingular terminal sliding mode control[J]. Journal of Systems Engineering and Electronics, 2019,30(1): 191-200.
[12]	董璐, 熊爱玲 . 基于改进 RRT^*-Smart 的复杂动态环境下的无人艇路径规划[J]. 智能科学与技术学报, 2022,4(2): 264-276.
	DONG L , XIONG A L . Path planning for unmanned surface vehicle in complex dynamic environment based on improved RRT^*-Smart[J]. Chinese Journal of Intelligent Science and Technology, 2022,4(2): 264-276.
[13]	KEMAL OZGOREN M . Comparative study of attitude control methods based on Euler angles,quaternions,angle-axis pairs and orientation matrices[J]. Transactions of the Institute of Measurement and Control, 2019,41(5): 1189-1206.
[14]	GAVRILINA E , CHESTNOV V . Singularity-free attitude control of the unmanned underwater vehicle[C]// Proceedings of 2020 24th International Conference on System Theory,Control and Computing. Piscataway:IEEE Press, 2020: 512-519.
[15]	BREZOV D . Optimization and gimbal lock control via shifted decomposition of rotations[J]. Journal of Applied ＆ Computational Mathematics, 2018,7(3).
[16]	代俣西, 沈秋, 王惠南 ,等. 双目视觉中基于对偶四元数的三维运动估计[J]. 光学技术, 2015,41(2): 132-137,143.
	DAI Y X , SHEN Q , WANG H N ,et al. 3D motion estimation of binocular vision based on dual quaternion[J]. Optical Technique, 2015,41(2): 132-137,143.
[17]	陈菲菲, 居鹤华, 余萌 ,等. 一种分析四元数及其在6R机械臂逆运动学中的应用[J]. 机械工程学报, 2022,58(9): 31-40.
	CHEN F F , JU H H , YU M ,et al. An analytical quaternion and its applications to inverse kinematics of 6R manipulators[J]. Journal of Mechanical Engineering, 2022,58(9): 31-40.
[18]	葛为民, 宇旭东, 王肖锋 ,等. 基于对偶四元数的机械臂运动学建模及分析[J]. 机械传动, 2018,42(7): 112-117.
	GE W M , YU X D , WANG X F ,et al. Kinematics modeling and analysis of manipulator based on dual quaternion[J]. Journal of Mechanical Transmission, 2018,42(7): 112-117.
[19]	孙斌, 常晓明, 段晋军 . 基于四元数的机械臂平滑姿态规划与仿真[J]. 机械科学与技术, 2015,34(1): 56-59.
	SUN B , CHANG X M , DUAN J J . Smooth orientation planning and simulation of manipulator based on quaternion[J]. Mechanical Science and Technology for Aerospace Engineering, 2015,34(1): 56-59.
[20]	吴琪, 李晔 . 基于四元数的欠驱动 AUV 的镇定控制设计[J]. 智能系统学报, 2014,9(2): 186-191.
	WU Q , LI Y . Stabilization design of under actuated AUV based on quaternion[J]. CAAI Transactions on Intelligent Systems, 2014,9(2): 186-191.
[21]	FOSSEN T I . Guidance and control of ocean vehicles[M]. Chichester: John Wiley ＆ Sons, 1994.
[22]	SABET M T , MOHAMMADI DANIALI H , FATHI A ,et al. A low-cost dead reckoning navigation system for an AUV using a robust AHRS:design and experimental analysis[J]. IEEE Journal of Oceanic Engineering, 2018,43(4): 927-939.
[23]	FAN S S , LI B , XU W ,et al. Impact of current disturbances on AUV docking:model-based motion prediction and countering approaches[J]. IEEE Journal of Oceanic Engineering, 2018,43(4): 888-904.
[24]	SONG W P , CHEN Z Q , SUN M W ,et al. Reinforcement learning based parameter optimization of active disturbance rejection control for Special Topic:Autonomous Underwater Vehicle[J]. Journal of Systems Engineering and Electronics, 2022,33(1): 170-179.
[25]	LI J H , LEE P M . Design of an adaptive nonlinear controller for depth control of an Special Topic:Autonomous Underwater Vehicle[J]. Ocean Engineering, 2005,32(17/18): 2165-2181.
[26]	SHI K , WANG X H , XU H X . On the offset-free nonlinear model predictive control for AUV docking[C]// Proceedings of 2021 WRC Symposium on Advanced Robotics and Automation. Piscataway:IEEE Press, 2021: 117-122.

Metrics

Recommended 0

No Suggested Reading articles found!

Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV

RichHTML

PDF下载

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 7

References 26

Related Articles 0

Metrics

Recommended 0