| 引用本文: | 姚绪梁,王晓伟,蒋晓刚,王峰.海流干扰下的欠驱动AUV三维路径跟踪控制[J].哈尔滨工业大学学报,2019,51(3):37.DOI:10.11918/j.issn.0367-6234.201709002 |
| YAO Xuliang,WANG Xiaowei,JIANG Xiaogang,WANG Feng.Control for 3D path-following of underactuated autonomous underwater vehicle under current disturbance[J].Journal of Harbin Institute of Technology,2019,51(3):37.DOI:10.11918/j.issn.0367-6234.201709002 |
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| 摘要: |
| 为解决存在海流干扰和模型不确定性情况下欠驱动自主水下航行器（AUV）的三维路径跟踪控制问题,首先在Serret-Frenet坐标系下,基于虚拟向导建立了跟踪误差模型. 然后,在运动学控制器中基于李雅普诺夫（Lyapunov）理论和反步法设计具有自适应律的虚拟向导和一种改进的积分视线法（ILOS）导引律,克服了海流的干扰并减少了超调. 应用反步自适应滑模控制（BASMC）理论设计动力学控制器,保证了系统的稳定性和鲁棒性. 最后,应用非线性级联理论证明了整个控制系统的闭环稳定性. 仿真结果表明:基于AUV与流体的相对速度来实现的控制律,便于工程应用. 该控制器能够有效克服海流和模型不确定的影响,实现对三维路径的跟踪. |
| 关键词: 自主水下航行器 路径跟踪 滑模控制 Serret-Frenet坐标系 积分视线法 |
| DOI：10.11918/j.issn.0367-6234.201709002 |
| 分类号:TP242.6 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(51279039) |
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| Control for 3D path-following of underactuated autonomous underwater vehicle under current disturbance |
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YAO Xuliang1,WANG Xiaowei1,2,JIANG Xiaogang2,WANG Feng1
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(1.College of Automation, Harbin Engineering University, Harbin 150001, China; 2. College of Mechanical Engineering, Jiujiang Vocational and Technical College, Jiujiang 332007, Jiangxi, China)
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| Abstract: |
| To deal with the 3D path-following control problem of underactuated autonomous underwater vehicle (AUV) in the presence of current disturbance and model uncertainty, a tracking error model on the basis of virtual target in Serret-Frenet frame was established. Based on the Lyapunov theory and back-stepping method in kinematic controller, the virtual target with adaptive law and an improved integral line-of-sight (ILOS) guidance law were then developed, which can overcome the interference of current and reduce overshoot. Dynamic controller was designed based on the back-stepping adaptive sliding mode control (BASMC) theory, which guarantees the stability and robustness of the system. Finally, the closed loop stability of the system was demonstrated by the nonlinear cascade system theory. The simulation results demonstrate that the control law, which is implemented based on the relative velocity between AUV and fluid, is convenient for engineering application, and the controller can effectively overcome the influence of current and model uncertainty and realize 3D path-following. |
| Key words: AUV path-following sliding mode control Serret-Frenet frame ILOS |
