基于反馈线性化的AUV三维轨迹跟踪滑模控制  

Sliding mode controller for three-dimensional trajectory tracking of AUV based on feedback linearization

作　　者：李娟[1,2] 王佳奇 丁福光 LI Juan;WANG Jiaqi;DING Fuguang(Key Laboratory of Underwater Robot Technology, Harbin Engineering University, Harbin 150001, China;School of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China)

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2022年第3期348-355,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51809060,5217110503);水下机器人技术重点实验室研究基金项目(614221502061701).

摘　　要：针对自主式水下航行器非线性、强耦合、模型不确定特性以及复杂海洋环境下的未知干扰问题,本文提出了基于微分几何的精确反馈线性化的滑模控制方法。利用反馈线性化方法将非线性强耦合的航行器模型转换成线性模型,减少非线性航行器带来的系统误差;设计了比例积分观测器,完成反馈线性化模型在复杂海洋环境下的受到的未知干扰的精确观测;在比例积分观测器的基础上,设计滑模控制器,并提出了自适应可变参的方法来消除抖振。基于Lyapunov稳定性理论证明了所设计的控制器在未知外界扰动下的鲁棒性和稳定性。仿真结果表明,提出的控制方法有效,能够实现在复杂海洋环境下的自主式水下航行器时变三维轨迹的精准控制。To solve the problems of autonomous underwater vehicles,such as strong nonlinear coupling,model uncertainty,and unknown disturbance,in complex marine environments,an approach based on the exact feedback linearization of differential geometry is proposed in this study.The proposed method can convert a vehicle model into a linear model and reduce the systematic error caused by a nonlinear model.The proportional integral observer is designed to accurately observe the unknown disturbance in complex marine environments.Then,the sliding mode controller is designed using the adaptive variable parameter method to eliminate chattering.The Lyapunov stability theorem is used to prove the robustness and stability of the designed controller under unknown external disturbances.The numerical simulation results illustrate the effectiveness and good performance of the proposed controller.

关 键 词：全驱动自主式水下航行器 反馈线性化 自适应可变参 滑模控制 抖振 轨迹跟踪 观测器 未知扰动 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]