水下航行器轴向运动的自适应积分反演跟踪控制

研究水下航行器轴向运动的非线性跟踪控制问题。针对广泛存在的未知海流、动态模型中的未知参数、以及外部常值扰动等不确定性因素，采用先进的自适应积分反演控制方法，用自适应机制克服未知海流和模型参数的不确定性，并在反馈中加入积分项提高系统对未建模动态特性的鲁棒性，使水下航行器能够全局渐近跟踪参考位置指令。通过不同条件下的仿真研究，分析了自适应机制和积分项在运动控制中的作用，并验证了闭环跟踪系统的全局渐近稳定性。

Adaptive Integral Backstepping Surge Motion Tracking Control for an Underwater Vehicle

The nonlinear tracking and controlling problem of surge motion for underwater vehicle was proposed. Taking aim at generally existential uncertainty factors, such as unknown ocean current, un?known parameters in dynamic model and external constant disturbance, a novel adaptive nonlinear con?troller with integrator based on backstepping was designed by using adaptive mechanism to overcome the uncertain factors and adding integral item in feedback to improve the robust against the unmodeled dynamic character. The designed controller can make underwater vehicle track the instruction of the reference position globally and asymptotically. The functions of adaptive mechanism and integral item were analyzed by simulation method at different conditions. The simulated results show that the track?ing system of closed loop has global and asymptotical stability.