基于自适应Backstepping的欠驱动AUV三维航迹跟踪控制.pdfVIP

第27 卷 第5 期 控 制 与 决 策 2012 年 5 月 Vol. 27 No. 5 Control and Decision May 2012 文章编号: 1001-0920 (2012) 05-0652-06 基于自适应Backstepping 的欠驱动AUV 三维航迹跟踪控制 1 2 1 1 1 贾鹤鸣, 程相勤 , 张利军 , 边信黔 , 严浙平 (1. 哈尔滨工程大学自动化学院，哈尔滨150001；2. 海军核辐射仪器计量站，山东青岛266100) 摘 要: 为了实现欠驱动自治水下机器人(AUV) 三维航迹跟踪控制, 基于非完整系统理论分析了AUV 缺少横向推 进器时的欠驱动控制系统特性, 并验证了欠驱动AUV 存在加速度约束不可积性. 基于李亚普诺夫稳定性理论, 利用 自适应Backstepping 设计连续时变的航迹点跟踪控制器, 以抑制外界海流的干扰. 仿真实验表明, 所设计的控制器能 实现欠驱动AUV 对一序列三维航迹点的渐近镇定, 并且航迹跟踪的精确性和鲁棒性明显优于PID 控制. 关键词: 欠驱动自治水下机器人；三维航迹跟踪；非完整系统；自适应Backstepping 中图分类号: TP24 文献标识码: A Three-dimensional path tracking control for underactuated AUV based on adaptive Backstepping 1 2 1 1 1 JIA He-ming , CHENG Xiang-qin , ZHANG Li-jun , BIAN Xin-qian , YAN Zhe-ping (1. College of Automation，Harbin Engineering University ，Harbin 150001 ，China ；2. Navy Nuclear Radiation Instrument Measurement Station ，Qingdao 266100，China ．Correspondent ：JIA He-ming ，E-mail: jiaheminglucky99@126.com) Abstract: In order to implement three-dimensional(3D) path tracking control for an underactuated autonomous underwater vehicle(AUV), based on the theory of nonholonomic system, the characteristics of underactuated control system are analyzed, when vehicle lacks lateral thruster. It is proved that constraints on the accelerations of the underactuated AUV are non- integrable. Path-point tracking controller is designed based on Lyapunov stability theorem and adaptive Backstepping method to attenuate environmental current disturbances. The simulation results show that the designed controller can force unde