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Design and Implementation of Backstepping Controller for Tilting Thruster Underwater Robot

机译:俯仰推进器水下机器人反推控制器的设计与实现

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A new motion control approach for an underwater robot with four tilting thrusters is proposed and investigated in this paper. The tilting thruster arrangement results in over actuated system which carries out six degree of freedom (DOF) motion with four rotatable thrusters. The dynamic model developed for the robot has a highly nonlinear thrust vector map because of tilting angles. Backstepping control, a non-linear control method is applied to this robot model for continuous tilting motion. The system stability is guaranteed, and the tracking errors asymptotically converge to zero by Lyapunov stability theory. Finally, numerical simulations illustrate the performance of the derived cascaded tracking control technique.
机译:提出并研究了一种具有四个倾斜推进器的水下机器人的运动控制新方法。倾斜的推进器装置导致了过度驱动系统,该系统利用四个可旋转的推进器执行六个自由度(DOF)运动。由于倾斜角度,为机器人开发的动态模型具有高度非线性的推力矢量图。反步控制,一种非线性控制方法已应用于此机器人模型,以进行连续倾斜运动。利用Lyapunov稳定性理论,可以保证系统的稳定性,并且跟踪误差渐近收敛到零。最后,数值模拟说明了导出的级联跟踪控制技术的性能。

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