海流扰动下无人水下航行器的动态面反演轨迹跟踪控制  

Dynamic surface backstepping trajectory tracking control of unmanned underwater vehicles with ocean current disturbances

作　　者：曹晓明 魏勇[1] 衡辉[1] 沈智鹏 CAO Xiaoming;WEI Yong;HENG Hui;SHEN Zhipeng(Department of Missile and Weapons,Navy Submarine Academy,Qingdao 266199,China;School of Maritime Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]海军潜艇学院导弹兵器系,山东青岛266199 [2]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《系统工程与电子技术》2021年第6期1664-1672,共9页Systems Engineering and Electronics

基　　金：国防技术基础项目(海装计2019420);国家高新技术研究计划(863)(2012AA112702);国家自然科学基金(51579024);中央高校基本科研业务费项目(3132016311)资助课题。

摘　　要：针对存在未知海流扰动条件下无人水下航行器(unmanned underwater vehicle,UUV)的轨迹跟踪控制问题,提出一种欠驱动UUV的动态面反演轨迹跟踪控制方法。首先,设计一种改进型海流扰动观测器来估测航行器动力学模型中存在的未知海流扰动。然后,采用反演法并结合动态面控制技术设计三维轨迹跟踪控制器,将控制算法中微分运算转换为简单且易于实现的代数运算,降低控制算法复杂性的同时避免“微分爆炸”问题,结合李雅普诺夫理论证明系统闭环稳定性。最后,对所设计的控制器进行仿真验证,结果表明所设计观测器能够有效应对时变海流干扰问题,精确地完成UUV的轨迹跟踪控制任务。Aiming at the trajectory tracking problem of unmanned underwater vehicle(UUV)with unknown ocean current disturbances,a dynamic surface backstepping trajectory tracking control strategy of underdrive UUV is proposed.Firstly,the novel ocean currents observer is designed to estimate the unknown ocean current disturbances of the dynamics equations.Then,the three dimensional trajectory tracking controllers are designed to combine backstepping method with dynamic surface control(DSC)technique,which can transform the differential operation in control algorithm into a simple algebraic operation,then reduce the complexity and avoid differential explosion of the control algorithm.Furthermore,the Lyapunov function is selected to prove the closed-loop stability of system.Finally,the designed controller is verified by simulation.The simulation results show that the proposed observer can effectively deal with time-varying ocean current disturbances,and accurately realize the trajectory tracking control of UUV.

关 键 词：无人水下航行器 三维轨迹跟踪 海流观测器 动态面控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]