Adaptive backstepping tracking control of underwater vehicle based on time scale analysis
To improve the tracking accuracy of underwater robots,an adaptive backstepping tracking control method for underwater robots based on singular perturbation system time scale analysis was proposed.Considering the underactuated and highly nonlinear dynamic characteristics of underwater robots,an adaptive backstepping controller was first introduced.Then,coupling dynamics was utilized and a correction error term combining pitch and horizontal position tracking errors was introduced to solve the underactuated problem.Furthermore,two time scales analysis of singular perturbation systems was used to establish the convergence of all tracking errors near zero.Finally,simulation and experimental results demonstrate that the proposed controller could achieve high-precision tracking of underwater targets and has good convergence.
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维普
