输入受限下自主水下航行器路径跟踪控制
Path Tracking Control of an Autonomous Underwater Vehicle with Input Constraints
唐杨周 1杨柯 1何波 2严天宏1
作者信息
- 1. 中国计量大学机电工程学院,浙江 杭州 310018
- 2. 中国海洋大学信息科学与工程学部,山东 青岛 266100
- 折叠
摘要
针对欠驱动式自主水下航行器AUV的三维路径跟踪控制问题,设计了一种按设定误差性能指标函数收敛的反演滑模控制器.首先基于航行器的运动学和动力学模型将路径跟踪问题转化为非线性系统的镇定问题;然后,利用反演法和李雅普诺夫稳定性理论逐步修正虚拟控制律,从而使控制器能够保证系统的稳定性和鲁棒性.为解决舵执行器的速率受限的问题,通过调整跟踪误差的收敛过程速度的方法设计了控制器.仿真结果表明,上述控制器能够实现对三维直线路径的精确跟踪,而且明显降低了控制系统执行器的速率要求.
Abstract
In order to solve the 3D path tracking control problem of underactuated AUV,a backstepping sliding mode controller is designed which converges according to the specified error performance index function.Firstly,the path tracking problem was transformed into the stabilization problem of the nonlinear system based on the kinematics and dynamics model of the vehicle.Then,the virtual control law was modified by using the backstepping method and Lyapunov stability theory,so that the controller can guarantee the stability and robustness of the system.In order to solve the problem of the limited speed of the rudder actuator,a controller was designed by adjusting the convergence rate of tracking error.The simulation results show that the controller can accurately track the 3D linear path and obvi-ously reduce the speed requirement of the control system actuator.
关键词
自主水下航行器/路径跟踪/滑模控制/反演法/输入受限Key words
Autonomous underwater vehicle/Path tracking/Sliding mode control/Backstepping method/Input constraints引用本文复制引用
基金项目
国家重点研发计划(2019YFC1408304)
出版年
2024
NETL
NSTL
万方数据