基于改进反步法的AUV直线路径跟随  

AUV Straight-line Path Following Based on Improved Backstepping Method

作　　者：李旻 周铸 吕志彪[3] 夏宇轩 宦爱奇 LI Min;ZHOU Zhu;LYU Zhibiao;XIA Yuxuan;HUAN Aiqi(The Second Military Representative Office of the Naval Equipment Department in Wuhan,Wuhan 430000;Naval University of Engineering,Wuhan 430000;No.92768 Troops of PLA,Shantou 515000;No.91206 Troops of PLA,Qingdao 266000)

机构地区：[1]海军装备部驻武汉地区第二军事代表室,武汉430000 [2]海军工程大学,武汉430000 [3]中国人民解放军92768部队,汕头515000 [4]中国人民解放军91206部队,青岛266000

出　　处：《舰船电子工程》2023年第2期47-53,共7页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:42174051,42074010)资助。

摘　　要：论文主要研究海流干扰下强非线性、强耦合AUV路径跟随控制问题。为此,采用反步法设计多输入多输出控制器并对其进行了改进,对于反步法控制器设计中可能出现的“微分爆炸”问题,通过设计二阶滤波器代替直接解析微分对其进行了解决,并对控制器进行了抗积分饱和处理,对于外界海流干扰,设计海流观测器对海流进行估计并将估计值反馈给反步控制器,最后采用变前视距离LOS法设计了AUV的直线路径跟随算法。仿真结果表明,在外界海流干扰下,控制器能较好地实现AUV的控制,AUV能跟踪上期望轨迹。所设计的路径跟随算法能较好地实现AUV的直线路径跟随。This paper mainly studies the AUV path following control problem with strong nonlinear and strong coupling under the disturbance of ocean current.For this reason,the backstepping method is used to design and improve the multi-input multi-output controller.The problem of"differential explosion"that may occur in the design of the backstepping controller is solved by designing a second-order filter instead of the direct analytical differential,and the controller is treated with anti-integral saturation.For the external current disturbance,an ocean current observer is designed to estimate the ocean current and feedback the estimated value to the backstepping controller.Finally,the straight-line path following algorithm of AUV is designed by using variable forward-looking distance LOS method.The simulation results show that under the disturbance of external ocean current,the controller can better realize the control of AUV,and AUV can track the desired trajectory.The designed path following algorithm can better realize the straight line path following of AUV.

关 键 词：AUV 海流观测器 反步法 抗积分饱和 路径跟随 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TP242.6[交通运输工程—船舶与海洋工程]