基于NDO的ROV滤波反步轨迹跟踪控制  

Command filtered backstepping path tracking control for ROV based on NDO

作　　者：魏延辉[1] 贾献强 高延滨[1] 王毅 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]重庆前卫科技集团有限公司,重庆404100

出　　处：《仪器仪表学报》2017年第1期112-119,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(51205074);中国国家科学技术部国际科技合作项目(2014DFR10010);高等学校博士点基金项目(20112304120007);中央高校基本科研业务费(HEUCF160403)项目资助

摘　　要：针对作业型遥控水下机器人(ROV)在轨迹跟踪过程中存在模型非线性、强耦合、模型参数不确定和外界干扰不确定等问题,提出一种基于非线性干扰观测器(NDO)的滤波自适应反步控制策略。使用NDO观测模型的不确定性和外界干扰,通过指令滤波器避免了直接对虚拟控制量解析求导的过程,利用自适应律补偿观测器观测残量。通过Lyapunov稳定性理论证明了跟踪误差系统的渐进稳定。仿真实验表明,设计的控制器能够实现精确的轨迹跟踪,具有较好的鲁棒特性。Aiming at the problems of nonlinear model,strong coupling,as well as model parameter uncertainty and external disturbance of work-class remotely operated vehicle（ ROV） in path tracking process,a command filtered adaptive backstepping control strategy is proposed based on nonlinear disturbance observer（ NDO）. The NDO is used to observe the model uncertainty and external disturbance.The command filter is adopted to avoid directly computing the analytic derivative of the virtual control quantity. The un-observable disturbance is compensated with adaptive law. Lyapunov stability theory is used to prove the asympotic stability of the path tracking error system. The simulation experiment results show that the designed controller can achieve precise path tracking and has good robust characteristic.

关 键 词：作业型遥控水下机器人 轨迹跟踪 非线性干扰观测器 指令滤波器 自适应反步控制 

分 类 号：TH39[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]