欠驱动自主水下航行器空间曲线路径跟踪控制研究

发布时间：2018-10-31 07:35

【摘要】：针对具有模型不确定性和输入饱和的欠驱动自主水下航行器(AUV),提出一种基于改进反步法的简单实用三维空间曲线路径跟踪鲁棒控制器。在Serret-Frenet坐标系下建立了空间曲线路径跟踪误差模型,结合视线角制导和虚拟向导法,设计了基于李雅普诺夫理论和改进反步法的运动学和动力学控制器。不同于传统的积分器反步法,该方法在控制器设计中采用跟踪误差的积分来增加控制器的鲁棒性,不会增加系统的状态变量和计算量;针对设计的运动学控制器存在非因果现象的问题,借助动力学模型求解出运动学控制器表达式;针对传统反步法存在的"微分爆炸"现象及动力学控制器过于复杂的问题,采用非线性跟踪微分器对控制器进行简化。仿真结果表明:采用所设计的基于改进反步法的控制器能够实现欠驱动AUV在模型参数不确定性和输入饱和作用下的三维空间曲线路径跟踪控制,控制精度和鲁棒性明显优于常规反步法。
[Abstract]:A simple and practical robust controller based on improved backstepping for underactuated autonomous underwater vehicle (AUV),) with model uncertainty and input saturation is proposed. The path tracking error model of space curve is established in Serret-Frenet coordinate system. The kinematics and dynamics controller based on Lyapunov theory and improved backstepping method is designed with the help of angle of sight guidance and virtual guide method. Different from the traditional integrator backstepping method, this method uses the integral of tracking error to increase the robustness of the controller, and does not increase the system state variables and computational complexity. In order to solve the problem of non-causal phenomenon in the kinematics controller, the kinematic controller expression is solved by means of dynamic model. Aiming at the problem of "differential explosion" existing in traditional backstepping method and the complexity of dynamic controller, the nonlinear tracking differentiator is used to simplify the controller. The simulation results show that the proposed controller based on the improved backstepping method can realize the path tracking control of the 3D curve under the uncertainty of the model parameters and the input saturation of the underactuated AUV. The control accuracy and robustness are obviously superior to the conventional backstepping method.
【作者单位】：北京航空航天大学自动化科学与电气工程学院;中国船舶重工集团公司第710研究所;61267部队第41分队;
【基金】：国家“973”计划项目(2014CB046402) 国家自然科学基金项目(51575019)
【分类号】：TP273;U664.82

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