基于高增益观测器的AUV水平面轨迹跟踪控制

发布时间：2018-03-31 15:49

本文选题：欠驱动自主水下航行器(AUV)　切入点：高增益观测器　出处：《计算机工程与应用》2017年11期

【摘要】：通过研究欠驱动自治水下机器人(AUV)在水平面的运动规律,针对欠驱动AUV水平面轨迹跟踪控制中的非完整约束、模型中的耦合性和非线性、海流干扰、跟踪精度问题进行了深入的研究,运用高增益观测器结合反步控制方法对欠驱动AUV轨迹跟踪进行有效控制。定义了AUV的地面坐标系和船体坐标系,并完成了地面坐标系向船体坐标系的转换,建立了欠驱动AUV的水平面运动学模型和动力学模型。为欠驱动AUV所提出的高增益观测器结合反步控制方案,在保证跟踪系统稳定性的前提下,可以有效地提高跟踪精度,能够消除外界干扰对控制效果的影响,并使得控制输入满足实际工程的应用约束条件。控制方法的稳定性均采用Lyapunov稳定性理论加以证明,并通过数值仿真验证了所设计控制器的有效性。
[Abstract]:By studying the motion law of underactuated autonomous underwater vehicle (AUV) in the horizontal plane, aiming at the nonholonomic constraints in the trajectory tracking control of the underactuated AUV horizontal plane, the coupling and nonlinearity of the model, and the current interference, are studied.In this paper, the tracking accuracy problem is deeply studied, and the underactuated AUV trajectory tracking is effectively controlled by using high gain observer and backstepping control method.The ground coordinate system and hull coordinate system of AUV are defined, and the transformation from ground coordinate system to hull coordinate system is completed, and the kinematics model and dynamic model of underactuated AUV are established.The high gain observer combined with backstepping control scheme proposed for underactuated AUV can effectively improve the tracking accuracy and eliminate the influence of external disturbance on the control effect under the premise of ensuring the stability of the tracking system.And make the control input meet the practical engineering application constraints.The stability of the control method is proved by Lyapunov stability theory, and the effectiveness of the designed controller is verified by numerical simulation.
【作者单位】：东北林业大学机电工程学院;哈尔滨工程大学自动化学院;
【基金】：中央高校基本科研业务费专项资金资助项目(No.2572014BB03) 国家自然科学基金(No.31270757,No.31470714,No.51609048)
【分类号】：TP242

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