AUV模型解耦水平运动多控制器联合控制  

Model decoupling and multi-controller joint control of horizontal movement for AUV

作　　者：魏延辉[1] 周卫祥[1] 贾献强 王泽鹏[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2016年第4期37-42,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51205074);高等学校博士学科点专项科研基金资助项目(20112304120007);黑龙江省教育厅资助项目(12513047);哈尔滨市科技创新人才研究专项资金资助项目(RC2012QN009037)

摘　　要：为了解决自治水下机器人(AUV)的水平面轨迹跟踪控制问题,提出一种基于解耦模型的多控制器联合控制方法.建立AUV水平面三自由度运动模型并进行模型解耦,将每个自由度都只保留主变量,模型中的交叉耦合项和模型不确定性都当做外干扰项来考虑;对解耦后的AUV运动模型进行轨迹跟踪控制器的设计,针对AUV各个自由度的特点,为轴向和侧向运动设计自适应反演滑模控制器,为艏向运动设计带有干扰观测器的自适应终端滑模控制器;通过公式推导,利用李雅普诺夫理论证明了系统稳定性和误差的收敛性.仿真实验证明:所设计的轨迹跟踪控制器具有较强的鲁棒性能,系统能够实现对平面轨迹的精确跟踪且能够在规定的有效时间内实现对艏向角的精确跟踪.To solve the problem of horizontal trajectory tracking for autonomous underwater vehicle（AUV）,multi-controller joint control based on decoupled model was presented.Three degrees of freedom motion model of AUV was founded and the AUV model was decoupled.The cross-coupling terms and model uncertainties were considered as interference terms,and each degree only retained the primary variable.Trajectory tracking controllers were designed for AUV according to the feature of each freedom after decoupling the model.Adaptive back-stepping sliding controller was designed for axial and lateral movement and adaptive terminal sliding controller was designed for heading motion with nonlinear disturbance observer（NDO）.By derivation,using Lyapunov stability criterion,global asymptotic stability and tracking error convergence were proved.Simulation experiments demonstrate that trajectory tracking controllers designed has excellent robust performance,the system can track accurately and heading motion has the ability of rapid convergence in effective specific time.

关 键 词：自治水下机器人 轨迹跟踪 模型解耦合 滑模控制 反演控制 自适应控制 联合控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]