Otonom sualtı aracı yörünge izleme kontrol algoritmalarının analizleri

Yıl 2023, Cilt: 29 Sayı: 2, 131 - 145, 30.04.2023

İrem Nur Oruç , Umut Tilki

Öz

Bu çalışmada, bir operatör tarafından direk olarak yönlendirilmeden görevlendirildikleri çalışma alanında özerk hareket ederek görevlerini yerine getiren sualtı araçları için parametre bozulmasının varlığı altında yatay düzlemde yörünge izleme problemi ele alınmıştır. Belirlenen bir yörüngenin takip edilmesi probleminde, literatürde sıkça kullanılan PD denetleyicinin yanı sıra geriadımlamalı denetleyici, kayan kipli denetleyici ve doğrusal karesel regülatör kullanımı önerilmiş olup, bu denetleyici yapılarının performansları sinüzaoidal bir yörünge üzerinde test edilmiştir. Önerilen denetleyicilerin literatürdeki denetleyicilere göre yüksek hassasiyete sahip, parazit önleme ve hızlı tepki vermesi sağlanarak performanslarını gerçekleştirmesi sağlanmıştır. Son olarak, geriadımlamalı ve kayan kipli denetleyicinin kararlılığını kanıtlamak için Lyapunov’un kararlılık ilkesi kullanılarak sistemin kararlı davranışı simülasyon üzerinde gösterilmiştir. Simülasyon ortamında tüm önerilen denetleyicilerin aynı bozucu etki altında istenilen yörüngeyi takip ettiği doğrulanmıştır. Ayrıca önerilen geriadımlamlı denetleyicisindeki keskin geçişler kayan kipli kontrolcü ile giderilmiş ve sistem üzerinde meydana gelebilecek olası arızaların önüne geçilmiştir.

Anahtar Kelimeler

Otonom sualtı araçları, Geriadımlamalı kontrol, Kayan kipli kontrol, Doğrusal karesel regülatör, Oransal türevsel (PD)kontrol

Analyses of autonomous underwater vehicle trajectory tracking control algorithms

Öz

In this study, the horizontal trajectory tracking problem under the presence of parameter distortion is discussed for underwater vehicles that perform their duties autonomously in the work area where they are assigned without being directly guided by an operator. In the problem of following a determined trajectory, in addition to the PD controller, which is frequently used in the literature, the use of a backstepping controller, a sliding mode controller and a linear quadratic regulator has been proposed, and the performances of these controller structures have been tested on a sinusoidal trajectory. It has been ensured that the proposed controllers perform with high sensitivity, anti-interference and fast response compared to the controllers in the literature. Finally, the stable behavior of the system is demonstrated on simulation by using Lyapunov's stability principle to prove the stability of the backstepping and sliding mode controller. It has been verified that all proposed controllers follow the desired trajectory under the same disturbance effect in the simulation environment. In addition, the sharp transitions in the proposed backstop controller are eliminated with the sliding mode controller and possible malfunctions that may occur on the system are prevented.

Anahtar Kelimeler

Autonomous underwater vehicles, Modelling, Backstepping control, Sliding mode control, Linear quadratic regulator control, Proportional derivative control

Kaynakça

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