论文标题
水下车辆的3D路径和L1自适应控制
3D Path Following and L1 Adaptive Control for Underwater Vehicles
论文作者
论文摘要
本文解决了水下车辆的指导和控制问题。多层控制策略用于确定（1）外环路径遵循命令和（2）内环驱动命令。具体而言，使用偏远路径遵循算法来指导车辆沿三维路径，并使用$ \ Mathcal {l} _1 $自适应控制算法来确定低级舵命令以完成以下路径。这些外环控制算法的性能边界显示了。使用基于物理的Simulink模型获得的数值结果用于帮助可视化控制算法的性能。
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight path-following algorithm is used to guide the vehicle along a three-dimensional path, and an $\mathcal{L}_1$ adaptive control algorithm is used to determine the low-level rudder commands to accomplish path following. The performance bounds of these outer- and inner-loop control algorithms are presented. Numerical results obtained using a physics-based Simulink model are used to aid in visualization of the control algorithm's performance.
