水下球形探测机器人的有限时间点镇定控制
水下球形探测机器人的有限时间点镇定控制水下球形探测机器人的有限时间点镇定控制
刘志民, 孙汉旭, 贾庆轩, 叶平
北京邮电大学自动化学院，北京 100876
Finite-time Point Stabilization Controller for an Underwater Spherical Exploring Robot
LIU Zhimin, SUN Hanxu, JIA Qingxuan, YE Ping
Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China
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摘要 介绍了水下球形探测器BYSQ-3的内部结构和工作原理，建立了水下球形探测机器人的运动学和动力学模型．利用微分同胚变换和控制输入变换对模型进行初步解耦，分解为2个子系统．其中第2个子系统为2个双积分器组成的级联系统，通过设计有限时间镇定控制律，可以保证部分状态在有限时间内收敛到0，并使整个系统较快地实现全局渐近稳定．整个过程无虚拟控制量，比传统的非线性设计方法更利于工程实现和节省能源．仿真和实验结果表明，该有限时间控制律具有较快的收敛速度和良好的稳定性，超调量小于5%．
关键词 ： 水下球形机器人,有限时间控制律,点镇定,输入变换
Abstract：The inner structure and operational principle of the underwater spherical exploring robot BYSQ-3 are described, and the kinematic and dynamic models are established. The diffeomorphism transformation and input transformation are employed to decouple the proposed model into two subsystems. The second subsystem is a cascaded system consisting of two double-integrator systems. A finite-time stabilization controller is designed to ensure part states converge to zero in finite time, and then globally asymptotical stability can be realized in the whole system within a short time. No virtual input is used in the whole process. Compared with traditional nonlinear design methods, the designed controller is easy for engineering implementation and is beneficial to energy saving. The simulation and experiment results are presented to validate the shorter convergence time and better stability of the presented finite-time controller, and the overshoot is less than 5%.
Key words： underwater spherical robot finite-time control law point stabilization input transformation
收稿日期: 2015-12-17 出版日期: 2016-07-29
1:TP242
基金资助:国家自然科学基金（51175048，61305126）；教育部科技创新工程重大项目培育资金（708011）
通讯作者: 刘志民，qiierrsann@163.com E-mail: qiierrsann@163.com
作者简介: 刘志民（1979-），男，博士，副教授．研究领域：水下机器人控制．
孙汉旭（1960-），男，博士，教授．研究领域：空间机器人．
引用本文:
刘志民, 孙汉旭, 贾庆轩, 叶平. 水下球形探测机器人的有限时间点镇定控制. 机器人, 2016, 38(5): 569-577.
LIU Zhimin, SUN Hanxu, JIA Qingxuan, YE Ping. Finite-time Point Stabilization Controller for an Underwater Spherical Exploring Robot. ROBOT, 2016, 38(5): 569-577.
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