仿生型自主式水下載具路徑追蹤控制器之研究

Abstract

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.