受扰欠驱动自主水下航行器的最优扰动抑制控制  

Underactuated AUV Systems Optimal Disturbance Rejection Control with Disturbances

作　　者：杨清[1] 宿浩[1] 唐功友[1] 

机构地区：[1]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2017年第6期139-145,共7页Periodical of Ocean University of China

基　　金：国家自然科学基金项目(61673357;41276085;61572448);山东省自然科学基金项目(ZR2015FM004;ZR2014JL043)资助~~

摘　　要：针对近水面航行的欠驱动自主水下航行器(AUV),研究了其波浪力作用下的航向控制问题。首先,利用局部微分同胚将AUV非线性系统转换为Brunovsky标准型系统;其次,基于波浪力的Morison方程给出了波浪力干扰外系统模型;然后,根据最优控制理论,基于二次型性能指标设计欠驱动AUV系统的前馈反馈最优扰动抑制控制律,并通过求解Riccati方程和矩阵方程获得。最后,通过AUV系统仿真实例验证了该方法的有效性。This paper concentrates on heading control problem of the near-surface-sailing underactuated AUV systems affected by the wave force disturbances. Firstly, the AUV nonlinear system model is con- verted to the Brunovsky system model by differential homeomorphism. Secondly, the exosystem of wave force disturbances is built based on the Morison equation, and added to the equations of AUV as well. Under this circumstance, the horizontal plane model of AUV with wave force disturbances was built. According to optimal control theory, a feedforward and feedback optimal disturbance rejection control law（ODRC） is derived from a Riccati equation and Matrix equation groups based on quadratic perform- ance index. At last, the simulation results show the effectiveness of the method.

关 键 词：欠驱动AUV系统 反馈线性化 扰动抑制 优化控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]