基于离散滑模预测的欠驱动AUV三维航迹跟踪控制  

Three-dimensional path tracking control for an underactuated AUV based on discrete-time sliding mode prediction

作　　者：贾鹤鸣 程相勤 张利军[1] 边信黔[1] 严浙平[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]海军核辐射仪器计量站,山东青岛266100

出　　处：《控制与决策》2011年第10期1452-1458,共7页Control and Decision

基　　金：国家自然科学基金项目(60704004);教育部博士点基金项目(20070217078;20102304110003)

摘　　要：针对欠驱动自主水下航行器(AUV)的模型不确定和外界海流干扰问题,为了实现欠驱动AUV的三维航迹跟踪控制,采用虚拟向导法建立空间运动误差离散化模型.基于递归滑模思想设计离散滑模预测控制器,利用滚动优化和反馈校正方法补偿了不确定项对滑模预测模型的影响.最后针对某欠驱动AUV进行了空间曲线跟踪控制仿真实验.结果表明,所设计的控制器可以较好地克服时变非线性水动力阻尼对系统的影响,并对外界海流干扰有较好的抑制作用,保证了欠驱动AUV三维航迹跟踪系统的鲁棒性,实现了三维航迹的精确跟踪.According to the model uncertainties problem of an underactuated autonomous underwater vehicle（AUV） and the enviromental current disturbances problem,in order to achieve the three-dimensional path tracking control of the underactuated AUV,the space movement error model is established based on virtual guidance method.The discrete-time sliding mode predictive controller is designed based on recursive sliding mode designing theory.Feedback correction and receding horizon optimization approaches are employed to compensate the in？uence of uncertainties for the sliding mode predictive model.Finally,space curve tracking simulation experiment is carried out by an underactuated AUV.The simulation results show that the designed controller can overcome the in？uence of time-varying nonlinear hydrodynamic damping to the control system,even the proposed control scheme has better effect on attenuating the external current disturbances.Thus the robustness of three-dimensional path following system is guaranteed and the tracking control with high tracking precision can be achieved.

关 键 词：欠驱动自主水下航行器 三维航迹跟踪 离散滑模预测 虚拟向导 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]