| 引用本文: | 毕凤阳,张嘉钟,魏英杰,曹伟.欠驱动AUV的鲁棒位置跟踪控制[J].哈尔滨工业大学学报,2010,42(11):1690.DOI:10.11918/j.issn.0367-6234.2010.11.003 |
| BI Feng-yang,ZHANG Jia-zhong,WEI Ying-jie,CAO Wei.Robust position tracking control design for underactuated AUVs[J].Journal of Harbin Institute of Technology,2010,42(11):1690.DOI:10.11918/j.issn.0367-6234.2010.11.003 |
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| 摘要: |
| 为了实现具有参数不确定性和外界干扰的欠驱动AUV的水平面鲁棒位置跟踪,基于李雅普诺夫理论,使用反步法设计了一个非线性控制器,并利用滑模控制方法提高控制系统的鲁棒性;为了检验该控制器的性能,选择有时变参考速度的正弦曲线作为参考轨迹,在控制输入受限的情况下,对具有参数不确定性和外界干扰的欠驱动AUV系统进行了数值仿真,结果表明本文设计的控制器能很好地实现欠驱动AUV的水平面位置跟踪控制,具有很强的鲁棒性。 |
| 关键词: 欠驱动自主水下航行器 鲁棒位置跟踪 反步法 李雅普诺夫稳定性理论 不确定性 |
| DOI：10.11918/j.issn.0367-6234.2010.11.003 |
| 分类号:TP242.3 |
| 基金项目:国家自然科学基金资助项目(10802026) |
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| Robust position tracking control design for underactuated AUVs |
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BI Feng-yang, ZHANG Jia-zhong, WEI Ying-jie, CAO Wei
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School of Astronautics,Harbin Institute of Technology,Harbin 150001,China
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| Abstract: |
| To address the problem of robust position tracking of underactuated autonomous underwater vehicles(AUVs) with parameter uncertainties and external disturbances in the horizontal plane,a robust position tracking controller is presented based on the Lyapunov stability theory by using backstepping technique.To compensate the uncertainties,a sliding mode control scheme was proposed.The desired trajectory was chosen as a sinusoidal curve.Simulation results are presented for the underactuated AUV systems with parameter uncertainties and external disturbances to illustrate the effectiveness and robustness of the proposed control schemes. |
| Key words: underactuated autonomous underwater vehicle robust position tracking backstepping Lyapunov stability theory uncertainty |
