欠驱动AUV水平面轨迹跟踪的反步控制研究  

Backstepping control of the underactuated AUV in horizontal plane trajectory tracking

作　　者：杨泽文[1,2] 贾鹤鸣 宋文龙[1] 朱传旭[1] 周佳加 何东旭[2] 

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《机电工程》2017年第11期1338-1342,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(31270757,31470714,51609048);中央高校基本科研业务费专项资助项目(2572014BB03)

摘　　要：针对欠驱动AUV水平面轨迹跟踪响应速度慢、系统抖振严重、运动轨迹与期望轨迹误差大的问题,对AUV经典的运动形式即水平面轨迹跟踪的运动特点进行了研究,分析了AUV水平面的运动规律。通过将地面误差变量转换为船体坐标变量的方法,建立了AUV水平面的误差方程,基于反步控制算法设计了欠驱动AUV水平面轨迹跟踪反步控制器,利用Lyapunov稳定性理论分析了整个闭环控制系统的稳定性。通过Matlab软件的数值仿真对所设计的控制器的有效性进行了验证。同时,利用设计的反步控制器在无外界干扰条件下对AUV轨迹跟踪进行了仿真,用以验证轨迹跟踪算法的稳定性。实验结果表明:AUV的运动控制轨迹能够与期望曲线重合,水平面运动轨迹的误差在可控范围,并且各个指标都趋于稳定。Aiming at the problems of slow response speed of underactuated AUV in horizontal plane trajectory,system heavy chattering,big error between trajectory and desired trajectory,the typical AUV movement form,plane trajectory tracking,was researched,the motion law of AUV was analyzed. The level of the error equation was established by converting the ground error variables to hull coordinate variables,underactuated AUV horizontal plane trajectory tracking controller based on backstepping control algorithm was designed,the stability of the closed-loop control system was analyzed by using Lyapunov stability theory. The effectiveness of the designed controller was verified through Matlab numerical simulation,and the stability of tracking algorithm was verified by using backstepping controller designed in trajectory tracking of AUV without interference conditions. The results indicate that the trajectory of the AUV is coincident with the desired curve,the error of horizontal planet horizontal plane trajectory rajectory is controllable,and each index is stable.

关 键 词：欠驱动无缆水下机器人 轨迹跟踪 反步法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]