Modeling and optimal control on gliding motion of underwater gliding snake-like robot [水下滑翔蛇形机器人滑翔运动建模与优化控制]

作者：Tang J.; Li B.; Chang J.^*; Wang C.; Zhang G.

来源：Journal of Southeast University(Natural Science Edition), 2019, 49(1): 94-100.

DOI：10.3969/j.issn.1001-0505.2019.01.014

• Gliding motion
• Linear quadratic integral(LQI) controller
• Linear quadratic regulator(LQR) controller
• Trajectory following
• Underwater gliding snake-like robot

To achieve stable control of gliding trajectory for the underwater gliding snake-like robot, a mechanical structure was designed and analyzed for the problem of shape and size limitation of the robot. Based on the designed mechanical system, a mathematical model for the gliding motion was established by using momentum theorem and moment of momentum theorem. The nonlinear model was linearized and the state feedback controller was designed using linear quadratic regulator (LQR), an optimal control strategy. To enhance the robustness of the system to parameter disturbances, the integral control was added to form a linear quadratic integral(LQI) controller. The stability, the robustness and the tracking error of the two control strategies were analyzed by simulation. The results show that both control strategies can achieve asymptotic trajectory tracking and input disturbance rejection. LQI can also achieve disturbance rejection on hydrodynamic parameters. The steady state tracking error of LQI is 0.271 5 m, and it is 27.58% lower than that of LQR.

• 单位
  中国科学院大学; 机器人学国家重点实验室