基于积分滑模的欠驱动UUV地形跟踪控制  

Bottom-following control for an underactuated unmanned underwater vehicle using integral sliding mode control

作　　者：严浙平[1] 于浩淼 李本银[1] 周佳加[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：《哈尔滨工程大学学报》2016年第5期701-706,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(51179038);新世纪优秀人才计划资助项目(NCET-10-0053)

摘　　要：针对参数摄动以及外界环境扰动条件下欠驱动水下无人航行器(UUV)地形跟踪控制任务,提出了一种基于反步法(Backstepping)和积分滑模控制方法(ISMC)的地形跟踪控制策略。首先,利用航行器的运动学特性以及局部Serret-Frenet坐标系,建立UUV地形跟踪误差方程。然后,分别采用反步法和ISMC设计运动学控制(制导律)和动力学控制器。利用有限时间稳定性理论证明该地形跟踪控制策略作用下的闭环运动系统为全局有限时间收敛的。仿真结果表明,所提出的地形跟踪控制策略可以有效地实现地形跟踪任务,并且对于参数摄动以及外界干扰具有很强的鲁棒性。The bottom-following problem of an underactuated unmanned underwater vehicle （U U V ） is discussed with consideration of the effects of parameter perturbation and external disturbances. A bottom-following control law based on the baekstepping method and integral sliding mode control （ISMC） is presented, which eliminates parameter perturbations and external disturbances. First, the bottom-following error equations were established using the kinematic properties of the vehicle and the local Serret-Frenet Frame. Then, the kinematic control law （guidance law） and dy- namic control law were developed based on the backstepping method and ISMC. Thus, the closed-loop motion system under the proposed control law was proven to have global finite-time stability. These simulation results show that the bottom-following mission can efficiently be achieved, and there is strong robustness to the parameter perturbations and external disturbances.

关 键 词：欠驱动UUV 地形跟踪 参数摄动 有限时间稳定 积分滑模控制 反推法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]