基于无源理论的欠驱动AUV直接自适应控制  

Direct adaptive control of underactuated autonomous underwater vehicles based on passivity approach

作　　者：夏国清[1] 杨莹[1] 赵为光 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《大连海事大学学报》2012年第3期80-84,共5页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(50979017)

摘　　要：针对欠驱动自治水下机器人在模型参数未知情况下水下平面轨迹跟踪控制问题,提出基于无源理论的自适应控制方法.首先,通过微分同胚等效变换对欠驱动项补偿,然后利用等效变换后的误差动态方程的内在无源特性,采用Lyapunov直接法和反步法将运动学模型控制器扩展至动力学模型,并提出AUV惯性质量矩阵参数和水动力阻尼矩阵参数估计自适应律.Lyapunov稳定理论证明了该方法可有效克服参数未知的干扰作用,使系统达到全局渐近跟踪,参数估计误差有界且收敛到有限值.仿真研究验证了该控制方法的有效性.A adaptive control method based on passivity theory for the trajectory tracking in a horizontal plane of underactuated autonomous underwater vehicle（AUV） with parameters uncertainties is proposed.Firstly,underactuated term is compensated by the diffeomorphism transformation,then the kinematic controller is extanded to the dynamic case based on the passivity properties inherent in transformated error dynamic model,backstepping and Lyapunov direct techniques.At the same time,inertia including added mass and hydrodynamic damping parameters adaptation laws are proposed.by resorting to the Lyapunov stability theory,it is shown that the method can effectively overcome the interference effect in the presence of parameter uncertainty,and make the closed-loop control system global asymptotic tracking,and parameter estimatation errors are bound and convergent to a finite constant. Simulation results validate the proposed control methodology.

关 键 词：欠驱动AUV 轨迹跟踪 无源化方法 非线性控制 自适应 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]