首页|基于有限时间控制理论的AUV快速轨迹跟踪控制算法

基于有限时间控制理论的AUV快速轨迹跟踪控制算法

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为解决自治式潜水器(Autonomous Underwater Vehicle,AUV)轨迹跟踪控制过程中的系统快速收敛和输出误差约束问题,提出一种结合正切型障碍李雅普诺夫函数(Tangential Barrier Lyapunov Function,TBLF)和有限时间控制理论的AUV快速轨迹跟踪控制算法.鉴于传统渐近稳定控制的收敛时间不可控的缺点,设计一种有限时间控制器,确保AUV可在有限时间内实现对期望轨迹的快速跟踪.进一步利用TBLF对AUV的设计轨迹与期望轨迹之间的轨迹跟踪误差进行约束,克服传统对数型障碍李雅普诺夫函数(Logarithmic Barrier Lyapunov Function,LBLF)无法适用于无误差约束需求系统的问题.仿真结果表明,所设计的控制算法具有更强的应用能力.
AUV Fast Trajectory Tracking Control Algorithm Based on Finite-Time Control Theory
In order to solve the problem of fast convergence and output error constraint of the system during the Autonomous Underwater Vehicle(AUV)trajectory tracking control,an AUV fast trajectory tracking control algorithm combined Tangential Barrier Lyapunov Function(TBLF)and finite-time control theory is proposed.In view of the disadvantage that the convergence time of traditional asymptotically stable control is uncontrollable,a finite-time controller is designed to ensure that the AUV can realize the fast tracking of designed trajectory in a finite time.Further with TBLF,the trajectory tracking error between true trajectory and desired trajectory of the AUV is constrained to overcome the problem that the traditional Logarithmic Barrier Lyapunov Function(LBLF)can not be applied to the system without error constraint requirements.The simulation results show that the designed control algorithm is of stronger application ability.

Autonomous Underwater Vehicle(AUV)trajectory trackingcontrol algorithmfinite-time control theoryBarrier Lyapunov Function(BLF)Tangential Barrier Lyapunov Function(TBLF)Logarithmic Barrier Lyapunov Function(LBLF)

刘强、刘西军、薛阳

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浙江华东测绘与工程安全技术有限公司,浙江 杭州 310014

中国电建集团华东勘测设计研究院有限公司,浙江 杭州 311122

自治式潜水器 轨迹跟踪 控制算法 有限时间控制理论 障碍李雅普诺夫函数 正切型障碍李雅普诺夫函数 对数型障碍李雅普诺夫函数

2024

10.12225/j.issn.1000-3878.2024.06.20240603

造船技术
中国船舶工业集团公司第十一研究所

造船技术

影响因子：0.161
ISSN：1000-3878
年,卷(期)：2024.52(6)