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研究生： 楊生德
Gieng, Sang-Tac
論文名稱： 自主兩棲無人載具非線性強健自適應類神經導引律之設計
Nonlinear Robust Adaptive Neural Network Control Design for Hybrid Autonomous Aerial Underwater Vehicles
指導教授： 陳永裕
Chen, Yung-Yue
學位類別： 碩士
Master
系所名稱： 工學院 - 系統及船舶機電工程學系
Department of Systems and Naval Mechatronic Engineering
論文出版年： 2021
畢業學年度： 109
語文別： 英文
論文頁數： 118
中文關鍵詞： 兩棲無人 載具 、適應性類神經網路 、非線性導引律 、強健控制 、導航點軌跡追蹤設計
外文關鍵詞： Hybrid autonomous aerial underwater vehicles, Nonlinear guidance law, Adaptive neural network controller, Amphibious vehicle, Six degrees of freedom
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    • 無人飛行器與無人水下載具在執行任務中都受到使用環境的限制，即無人飛行器只能在空中工作，而無人飛行器只能淹沒在水下。與上述兩者不同，兩棲自主無人載具（HAAUVs）具有無人機飛行器與無人水下載具等單介質無人載具的所有優點，其可以在空中飛行又可以浸入水下。本研究將針對兩棲無人載具提出一種全新的設計以克服單一介質之無人載具的局限性，並且還具有許多其他載具的優勢，例如它可以像無人飛行器一樣快速的飛行和定位，也可以像無人水下載具一樣隱身的導航。進而對此自主兩棲無人載具建立了跨介質非線性數學模型，其中還考慮了環境擾動的影響。基於上述，HAAUVs系統變得高度非線性，存在不可預測的干擾和系統不確定性，這嚴重影響了載具的性能。為了克服這些問題，本研究針對HAAUVs的系統耦合和高非線性模型推導出一種新的非線性強健自適應神經網絡控制器，其包括過渡介質切換策略且具有學習環境擾動與系統不確定性。最後，通過各種軌跡模擬對所提出的導引律進行了驗證。

    The hybrid autonomous aerial underwater vehicles (HAAUVs) can play the role of multi-motor vehicles to fly in the air, they can also perform missions in the marine environment like unmanned surface and underwater vehicles. In this study, a new design concept for such kinds of vehicles is proposed, and then a cross-medium nonlinear mathematical model is investigated along with the mathematical modeling for environmental disturbances and modeling uncertainties to make the system model more realistic. Furthermore, cross-medium motion is also taken into account in the equations of motion of HAAUVs. For the above-mentioned reasons, the system of HAAUVs becomes highly nonlinear and built up with the presence of unpredictable disturbances and uncertainties, which severely affect the performance of the vehicle. To overcome these problems, a new robust adaptive neural network controller is derived for the coupled and high nonlinear model of HAAUVs. Finally, the proposed control scheme is verified via various trajectory simulations.

    中文摘要 i Abstract ii 致謝 iii List of Tables vi List of Figures vii Nomenclatures xi Chapter 1 Introduction 1 1.1. Research Motivations 1 1.2. Reviews and Objectives 2 Chapter 2 Mathematical Modeling for HAAUVs 5 2.1. HAAUVs Design Concept 5 2.2. Reference Frames 6 2.3. Coordinate Transform Matrix 8 2.4. Dynamics of HAAUVs 9 2.4.1 Dynamics when HAAUVs in Air 12 2.4.2 Dynamics when HAAUVs Underwater 13 2.4.3 Dynamics when HAAUVs on Water 17 Chapter 3 Environmental Disturbances 19 3.1. Wind-generated Forces and Moments 19 3.2. Wave generated Forces and Moments 20 3.3. Ocean Current-generated Forces and Moments 24 3.4. Equations of Motion in the Earth-Fixed Frame 26 Chapter 4 Design of Controller for HAAUVs 29 4.1. Trajectory Generator 29 4.2. Feedback Linearization Controller Design 34 4.3. Robust Adaptive Neural Network Controller Design 37 4.4. Summary of the Design Procedure 40 Chapter 5 Simulation Results 42 5.1. Specifications of the Controlled HAAUV 42 5.2. Estimation of Buoyancy-related Parameters 44 5.3. Specific Parameters for the Proposed Controller 52 5.4. Scenario 1 53 5.5. Scenario 2 69 5.6. Scenario 3 86 Chapter 6 Conclusions 105 Chapter 7 Future Works 106 Appendix A 107 Appendix B 108 Appendix C 112 Appendix D 114 References 117

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