基于迭代滑模增量反馈的欠驱动AUV地形跟踪控制

为实现欠驱动自治水下机器人(AUV)在未知海流干扰作用下的地形跟踪控制,提出一种基于非线性迭代滑模增量反馈的航迹跟踪控制器.基于虚拟向导的方法,建立AUV垂直面航迹跟踪误差方程.采用迭代方法,设计滑模增量反馈控制器,无需对AUV模型参数不确定部分和海流干扰进行估计,这样避免了AUV俯仰舵的抖振现象,并且减小了输出反馈控制的稳态误差与超调问题.仿真实验表明,所设计的控制器对AUV系统的模型参数摄动及海流干扰变化不敏感,所设计的参数易于调节.

A bottom-following controller for underactuated AUV based on iterative sliding and increment feedback

In order to realize the bottom-following control for underactuated autonomous underwater vehicle(AUV) under
the ocean current, an increment feedback control method based on nonlinear iterative sliding mode control is presented for path following. The path following error equation in vertical plane is established based on virtual guide method. Then an increment feedback control law is designed based on iterative sliding modes without the uncertainty of AUV model and ocean current disturbances’ estimating. The problem of chattering by the hydroplane is circumvented, and the static error and overshoot by output feedback control are decreased. The results of simulation experiments show that the controller is robust against the systemic variations and disturbances, and the parameters are easy to be adjusted.