自主水下航行器轴向运动的自适应反演滑模控制

研究了自主水下航行器在未知海流作用下的轴向运动跟踪控制问题,采用非线性反演设计技术,引入自适应机制在线估计未知海流速度和模型参数,用滑模控制克服系统中的未建模动态特性,保证了轴向位置跟踪误差的全局渐近稳定性。仿真结果表明,该自适应反演滑模控制具有良好的鲁棒性和自适应性。

Adaptive Backstepping Sliding Mode Control for Surge Motion of an Autonomous Underwater Vehicle

The adaptive backstepping sliding mode control is proposed for the surge motion control problem of an autonomous underwater vehicle(AUV) affected by previously unknown constant current which is not properly dealt with in the previous researches.Recognizing the feedback structure of the surge motion model,the adaptive backstepping technique is used,and the unknown current and hydrodynamic coefficients are estimated by adaptive laws.The sliding mode control is introduced to deal with the uncertainties not included in the model.The surge position tracking error is proved to be globally asymptotically stable.Finally,the simulation results are presented to demonstrate the stability and adaptability of the proposed controller.