基于自适应反步法的欠驱动UUV空间路径点跟踪控制  

Way-Point Tracking Control for Underactuated UUV Based on Adaptive Backstepping

作　　者：边信黔[1] 牟春晖[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

出　　处：《中国造船》2011年第4期38-45,共8页Shipbuilding of China

摘　　要：解决了一类欠驱动UUV系统在空间6自由度运动中的路径点跟踪控制问题。首先采用拉格朗日方程的形式,建立UUV的6自由度运动学模型和动力学模型,并基于Line-of-sight法建立欠驱动UUV的路径点跟踪误差模型;然后提出了基于反步法设计满足动力学限制的综合控制器,设计自适应律以抵消海流的干扰,并基于Lyapunov理论证明了所设计控制器的稳定性;最后仿真结果验证了该控制器的有效性,实现了欠驱动UUV三维空间的路径点跟踪控制。A control strategy for way-point tracking control of a class of underactuated UUV system with movement in six degrees of freedom is presented. First, the motion model and dynamic model of the 6-DOF for the UUV in the Lagrange form, and the way-point tracking error model is built based on line of sight method. Then, a backstepping based meflaod for synthesizing controllers that satisfy the developed dynamical constraints is presented, and it is shown how adaption can be included to counteract environmental disturbances in all six degrees of freedom while guaranteeing global asymptotic way-point tracking. By the Lyapunov theory, it is proved that the designed controller is stabile. Finally, the simulation results show that the controller is valid and could achieve the way-point tracking control with underactuated UUV in three-dimensional space.

关 键 词：欠驱动UUV 路径点跟踪 自适应反步法 LYAPUNOV理论 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]