基于滤波反步法的欠驱动AUV三维路径跟踪控制  

Three-dimensional Path-following Control of Underactuated Autonomous Underwater Vehicle with Command Filtered Backstepping

作　　者：王宏健[1] 陈子印[1,2] 贾鹤鸣[3] 李娟[1] 陈兴华[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]北京空间机电研究所,北京100094 [3]东北林业大学机电工程学院,哈尔滨150040

出　　处：《自动化学报》2015年第3期631-645,共15页Acta Automatica Sinica

基　　金：国家自然科学基金(E091002/50979017);教育部高等学校博士学科点专项科研基金(20092304110008);中央高校基本科研业务费专项资金(HEUCFZ1026);哈尔滨市科技创新人才(优秀学科带头人)研究专项资金(2012RFXXG083)资助~~

摘　　要：研究了欠驱动自主水下航行器(Autonomous underwater vehicle,AUV)的三维空间路径跟踪控制问题.针对基于虚拟向导建立的三维路径跟踪误差模型,采用滤波反步法设计跟踪控制器,通过二阶滤波过程获得虚拟控制量的导数,避免了直接对虚拟控制量解析求导的复杂过程,同时滤除了高频测量噪声,增加了系统对噪声的鲁棒性.通过设计滤波误差补偿回路,保证了滤波信号对虚拟控制量的逼近精度.基于李雅普诺夫稳定性理论设计鲁棒项,保证了闭环跟踪误差系统状态的渐近稳定.仿真结果表明了该控制器对噪声干扰具有一定的鲁棒性,能够实现对三维路径的精确跟踪.This paper studies the path-following control problem for an autonomous underwater vehicle（AUV） in the three-dimensional space. With the three-dimensional path-following error model established based on the virtual guidance law, a path-following controller is designed using the command filtered backstepping method. The derivative of virtual control can be obtained by a second-order filter, which avoids the complexity to compute the analytic derivative of the virtual control, and filters out high frequency measurement noise to keep the control system more robust. A filtering error compensation loop is designed to guarantee the approximation precision between the filtered signal and the command virtual control. The robust terms are designed through Lyapunov stability theorem, then the closed-loop of path-following error system is proved asympotic stability. Finally, simulation results illustrate the good robustness of the proposed controller under noise disturbances, and accurate tracking ability in the three-dimensional space.

关 键 词：欠驱动自主水下航行器 三维路径跟踪 滤波反步法 虚拟向导 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]