基于Ciscrea AUV耦合模型的H_(∞)鲁棒控制器设计  

H_(∞) robust control design for coupled Ciscrea AUV model

作　　者：刘艳[1] 冯旭琛 杨睿[1] 黎明[1] 冯一飞 LIU Yan;FENG Xuchen;YANG Rui;LI Ming;FENG Yifei(College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《中国舰船研究》2021年第6期191-200,共10页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51709245);青岛博士后基金资助项目(861705040024)。

摘　　要：[目的]为实现Ciscrea自主式水下航行器(AUV)的空间轨迹跟踪与艏摇控制,设计一种多输入多输出(MIMO)鲁棒控制器。[方法]采用摄动法将AUV模型中惯性矩阵的参数不确定性和二次非线性阻尼作用表述为不确定集合,通过线性分式变换(LFT)得到广义系统。针对广义系统,采用H-infinity综合方法求解AUV的MIMO鲁棒控制器,以及结构奇异值方法分析控制器的鲁棒稳定裕度。通过MATLAB仿真,模拟AUV的三维轨迹跟踪与艏摇控制,以验证鲁棒控制器性能,并在有/无干扰的情况下对其跟踪能力进行比较。[结果]通过计算得到了稳定鲁棒控制器的结构奇异值的上、下界。结果表明,设计的鲁棒控制器可有效消除干扰信号引起的输出扰动。[结论]所提控制方法具有良好的抗干扰性能,适合用于解决AUV多自由度模型中参数不确定性和非线性问题,并可为AUV在实际海洋环境下的运动控制研究提供有益参考。[Objective]A multi-input multi-output(MIMO)robust controller is proposed to realize the trajectory tracking and yaw control of a four-DOF Ciscrea autonomous underwater vehicle(AUV)model.[Methods]The parameter uncertainty of the inertia matrix and quadratic damping action is formulated as an uncertain structure via the perturbation method,and the general system is derived by linear fraction transformation(LFT).The H-infinity synthesis method is applied to solve the MIMO robust controller for the AUV general system,and the structure singular value analysis method is used to compute the robust stability margin.To validate the robust yaw controller,AUV's three-dimensional trajectory tracking and yaw control scenarios are simulated using MATLAB.The tracking performance is compared between interference and non-interference control conditions.[Results]The upper and lower bounds of the structure singular value are obtained for the stable robust controller.The elimination of perturbation on AUV output shows effective anti-jamming performance.[Conclusions]The proposed control method is available for solving the parameter uncertainty and nonlinearity issues of AUV models,which can provides a specific application for addressing AUV motion and attitude control problems in real ocean environments.

关 键 词：自主式水下航行器 运动控制 MIMO控制 非线性 鲁棒控制 H-infinity综合方法 

分 类 号：U674.941[交通运输工程—船舶及航道工程] U664.822[交通运输工程—船舶与海洋工程]