具有输入饱和的无人两栖平台路径跟踪  

Path Following of Unmanned Amphibious Platform with Input Saturation

作　　者：贾英新 华玉龙 田相轩 JIA Ying-xin;HUA Yu-long;TIAN Xiang-xuan(Department of Military and Politics,Academy of Army Armored Forces,Beijing100072,China;Research Center of Unmanned Aerial Vehicle,Army Aviation Institute,Beijing101149,China;Information and Communication Department,Academy of Army Armored Forces,Beijing100072,China)

机构地区：[1]陆军装甲兵学院军政基础系,北京100072 [2]陆军航空兵学院无人机中心,北京101149 [3]陆军装甲兵学院信息通信系,北京100072

出　　处：《计算机仿真》2022年第9期9-14,39,共7页Computer Simulation

摘　　要：研究了输入饱和影响下的无人两栖平台路径跟踪控制问题,提出了一种基于观测器的抗饱和反步控制方法。该方法将实际控制输入分解为不受限的理想控制输入与执行机构无法响应的控制输入两部分,后者可视为等效干扰并与真实外界干扰合并应用干扰观测器进行估计和补偿。针对具有理想控制输入的非完全对称无人两栖平台模型,基于line-of-sight (LOS)导引律及反步控制理论设计了抗饱和控制器,Lyapunov稳定性理论证明了闭环系统的所有信号一致最终有界。数值仿真结果表明:所设计的控制器能有效地削弱输入饱和对系统造成的影响,实现对预定路径的稳定跟踪。The path following problem of unmanned amphibious platform with input saturation was discussed in this paper, and a new disturbance-observer-based backstepping anti-saturation method was proposed. This method separates the real input into two parts, the unlimited ideal input and the resident input beyond the actuator, where the latter can be estimated and compensated by the disturbance observer together with the real external disturbances. Then an anti-saturation controller is developed based on the asymmetric unmanned amphibious platform model by applying the line-of-sight(LOS) guidance law and the backstepping technique. All signals of the closed-loop system are proved to be uniformly ultimately stable based on Lyapunov theory. Numerical simulation results illustrate that the controller can effectively eliminate the influence of input saturation, and manage to steer the platform to follow a predefined path.

关 键 词：输入饱和 无人两栖平台 路径跟踪 导引律 干扰观测器 

分 类 号：U270.1[机械工程—车辆工程]