基于自适应Backstepping的欠驱动AUV三维航迹跟踪控制

为了实现欠驱动自治水下机器人（AUV）三维航迹跟踪控制,基于非完整系统理论分析了AUV缺少横向推进器时的欠驱动控制系统特性,并验证了欠驱动AUV存在加速度约束不可积性.基于李亚普诺夫稳定性理论,利用自适应Backstepping设计连续时变的航迹点跟踪控制器,以抑制外界海流的干扰.仿真实验表明,所设计的控制器能实现欠驱动AUV对一序列三维航迹点的渐近镇定,并且航迹跟踪的精确性和鲁棒性明显优于PID控制.

Three-dimensional path tracking control for underactuated AUV based on adaptive Backstepping

In order to implement three-dimensional(3D) path tracking control for an underactuated autonomous underwater vehicle(AUV),based on the theory of nonholonomic system,the characteristics of underactuated control system are analyzed, when vehicle lacks lateral thruster.It is proved that constraints on the accelerations of the underactuated AUV are non-integrable. Path-point tracking controller is designed based on Lyapunov stability theorem and adaptive Backstepping method to attenuate environmental current disturbances.The simulation results show that the designed controller can force underactuated AUV to be asymptotically stabilized to a sequence path points,and the accuracy and robustness are more excellent than that of PID control.