欠驱动AUV的鲁棒位置跟踪控制

为了实现具有参数不确定性和外界干扰的欠驱动AUV的水平面鲁棒位置跟踪,基于李雅普诺夫理论,使用反步法设计了一个非线性控制器,并利用滑模控制方法提高控制系统的鲁棒性;为了检验该控制器的性能,选择有时变参考速度的正弦曲线作为参考轨迹,在控制输入受限的情况下,对具有参数不确定性和外界干扰的欠驱动AUV系统进行了数值仿真,结果表明本文设计的控制器能很好地实现欠驱动AUV的水平面位置跟踪控制,具有很强的鲁棒性。

Robust position tracking control design for underactuated AUVs

To address the problem of robust position tracking of underactuated autonomous underwater vehicles (AUVs) with parameter uncertainties and external disturbances in the horizontal plane, a robust position tracking controller is presented based on the Lyapunov stability theory by using backstepping technique. To compensate the uncertainties, a sliding mode control scheme was proposed. The desired trajectory was chosen as a sinusoidal curve. Simulation results are presented for the underactuated AUV systems with parameter uncertainties and external disturbances to illustrate the effectiveness and robustness of the proposed control schemes.