未知海流干扰下自主水下航行器位置跟踪控制策略研究

针对存在参数不确定性的欠驱动自主水下航行器 (AUV)水平面位置跟踪控制问题，基于李雅普诺夫理论，利用反步法设计了一种非线性控制器。利用自适应控制技术对模型本身不确定性进行补偿，同时引入自适应模糊控制技术对非线性控制器进行优化；设计了一种针对于缓慢未知时变海流的指数收敛观测器，并利用李雅普诺夫稳定性理论证明了整个AUV闭环控制系统的稳定性。针对一种新型飞翼式欠驱动AUV进行数值仿真，结果表明所设计控制器可以准确地对期望轨迹进行跟踪，证明了其有效性和鲁棒性。

Position Tracking Control of Autonomous Underwater Vehicles in the Disturbance of Unknown Ocean Currents

An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory， which is used for the position tracking of a new class of underactuated underwater vehicles (AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles.