郭振華臺灣大學：工程科學及海洋工程學研究所陳柏宏Chen, Po-HungPo-HungChen2007-11-262018-06-282007-11-262018-06-282006http://ntur.lib.ntu.edu.tw//handle/246246/51135本論文提出一個強健控制器架構，用以控制仿生型自主式水下載具的路徑，使其可以達到路徑追蹤之全域穩定的目標。此控制器可以使仿生型自主式水下載具的位置和方向追蹤誤差達成全域漸進收歛。此追蹤控制器也可以應用在仿生型自主式水下載具的徘徊控制問題上。本文並證明對於參數不確定的動態模型，此運動控制器可以適應控制的方式修正模式誤差。最後，本論文使用數值模擬驗證所提出之追蹤控制器的效能。In this thesis, a differentiable, robust tracking controller was developed for a Biomimetic Autonomous Underwater Vehicle (BAUV) to achieve globally uniformly ultimately bounded tracking. It is proved that the position and orientation tracking errors for a BAUV can be made globally asymptotically converged to a neighborhood about zero. In addition, it was illustrated that the proposed tracking controller can also be utilized for the regulation problem to mimic the motion control using pectoral fins. Finally, the kinematic controller was used to develop an adaptive controller for the BAUV with parametric uncertainty in the dynamic model. Simulation results are provided to show the performance of the proposed tracking controller.摘 要 I Abstract II Table of Contents III List of Figures VI List of Symbols XII Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 1 1.3 Thesis Organization 5 Chapter 2 Kinematic Tracking Control Development 7 2.1 Kinematic Problem Formulation 7 2.1.1 BAUV Kinematic Model 7 2.1.2 Kinematic Model Transformation 11 2.1.3 Open-Loop Tracking Error Development 14 2.2 Smooth Variable Structure-Like Control Development 17 2.2.1 Control Formulation 17 2.2.2 Closed-Loop Error System Development 21 2.3 Stability Analysis 24 2.4 Setpoint Regulation 30 Chapter 3 Dynamic Tracking Control Development 32 3.1 Formulation 32 3.1.1 Kinematic Model 32 3.1.2 Model Transformation 34 3.1.3 Tracking Error Development 37 3.2 BAUV Dynamics 39 3.3 Control Development 45 3.3.1 Dynamic Control Formulation 46 3.3.2 Error System Development 51 3.4 Dynamic Stability Analysis 55 Chapter 4 Simulations 63 4.1 Kinematic Simulations 63 4.1.1 Near-Straight-Line Trajectory Tracking Simulations 63 4.1.2 Circular Trajectory Tracking Simulations 70 4.1.3 Regulation Simulations 75 4.2 Dynamic Simulations 80 4.2.1 Dynamic Near-Straight-Line Trajectory Simulations 80 4.2.2 Dynamic Circular Trajectory Simulations 86 4.2.3 Dynamic Regulation Simulations 97 4.3 Multi-segment Trajectory Tracking 101 Chapter 5 Conclusions 113 References 115743645 bytesapplication/pdfen-US仿生型自主式水下載具BAUVthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/51135/1/ntu-95-R91525036-1.pdf