UUV推进系统容错控制分配算法研究

针对水下机器人(UUV)推进系统容错控制分配问题,本文提出了基于SVD分解(奇异值分解)与定点分配的混合算法。与传统的方法相比,它回避了求伪逆矩阵的问题,降低了计算量;能够满足推进器饱和约束限制。利用水下实验平台推进系统模型进行了仿真实验,验证了算法的正确性和有效性。

In view of the propulsion system fault-tolerant control allocation problem of a UUV(unmanned underwater vehicle), the pa-per introduced a hybrid control allocation algorithm based on SVD and fixed—point allocation. It avoided computing the pseudo-in-verse matrix comparing with the traditional methods ,so it can be implemented with low computational complexity ;at the same time, the propellers were guaranteed to support the constraint condition. The simulation example of the submarine experiment platform propulsion system model was provided to demonstrate the effectiveness and correctness of the proposed methods.

国家自然科学基金资助项目(60605029)