基于反步滑模控制的欠驱动AUV定深运动研究  

Research on underactuated AUV depth motion based on backstepping sliding mode control

作　　者：吴子明 杨柯 唐杨周 郭乃欢 沈钺[2] 何波[2] 严天宏 WU Zi-ming;YANG Ke;TANG Yang-zhou;GUO Nai-huan;SHEN Yue;HE Bo;YAN Tian-hong(School of Mechanical and Electrical Engineer,China Jiliang University,Hangzhou 31018 China;School of Information Science and Engineering,Ocean University of China,Qingdao 266100 China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018 [2]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《舰船科学技术》2023年第1期114-119,共6页Ship Science and Technology

基　　金：国家重点研发计划项目(2019YFC1408304)。

摘　　要：欠驱动自主水下航行器(autonomous underwater vehicle,AUV)深度控制是完成水下作业任务的重要基础,为了在复杂海况中抑制外界产生的干扰,更稳定地实现欠驱动AUV垂直面上的定深运动控制,设计基于虚拟控制律和反步法结合的滑模控制器(sliding mode controller,SMC)。首先,引入固定坐标系和运动坐标系之间的坐标转换,建立垂直面运动误差模型,将深度误差的镇定转换为纵倾角和纵倾角速度误差的镇定;然后利用李雅普诺夫(Lyapunov)稳定性理论证明控制器的稳定性。最后,仿真结果和海试表明,本文设计的控制器能够有效完成给定深度的运动控制,且对外界干扰有一定的鲁棒性。Depth control of underactuated autonomous underwater vehicle(AUV) is an important basis for completing Underwater operations. The sliding mode controller(SMC) is designed based on the combination of virtual control law and backstepping method, in order to suppress external disturbance in complex sea conditions and realize the AUV’s depth motion control effectively on the vertical surface. Firstly, the coordinate transformation between the fixed coordinate system and the moving coordinate system is introduced, then the motion error model of the vertical plane is established. The stabilization of the depth error is converted to the stabilization of the pitch angle and the pitch velocity error by using the virtual control variable. Then Lyapunov stability theory is used to prove the stability of the controller. Finally, the simulation results and test experiments show that the controller designed in this paper can effectively complete the motion control of the given depth, and has a certain robustness to the disturbance added by the outside.

关 键 词：欠驱动AUV 定深控制 反步滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]