基于海流观测器对欠驱动水下机器人进行三维路径跟随.pdf

30 8 Vol. 30 No. 8 2013 8 Control Theory Applications Aug. 2013 DOI: 10.7641/CTA.2013.21222 , , (1. , 150001; 2. , 150022) : , . , , , . , ; , . Lyapunov, . : ; ; ; : TP273 : A Path-following in 3D for underactuated autonomous underwater vehicle based on ocean-current observer YANG Ying , XIA Guo-qing, ZHAO Wei-guang (1. College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China; 2. College of Electric Information Engineering, Heilongjiang Institute of Science Technology, Harbin Heilongjiang 150022, China) Abstract: A path-following controller in 3D is developed for an underactuated autonomous underwater vehicle with unknown physical parameters in the presence of ocean-current. Assuming the current is irrotational, we design the controller based on the motion equations of the ocean currents by combining with the line of sight (LOS) guidance algorithm and the backstepping technique. The dead-zone methods are used to estimate the unknown parameters to avoid the parameter drift. The current observer is used to estimate unknown ocean-current velocities. Finally, the stability analysis is carried out by using Lyapunov stability theory. Numerical simulations show the effectiveness of the proposed controller. Key words: autonomous underwater vehicles; path following; dead-zone method; ocean-current observer 1 (Introduction) tional intelligent navigator, ODIN) , , Lyapunov. [6] AUV . , , Lyapunov , , . [7]Lyapunov , AUV , , , . . , AUV , [1–3] , . (autonomou