基于改进Super-Twisting滑模与干扰观测器AUV控制方法  

An AUV Control Method Based on Modified Super-Twisting Sliding Mode and Disturbance Observer

作　　者：李光磊 李冀永 钟荣兴 谢华伟 但杨文 侯成刚 LI Guanglei;LI Jiyong;ZHONG Rongxing;XIE Huawei;DAN Yangwen;HOU Chenggang(Navy Military Representative Office in Jiujiang Aera,Jiujiang 332007,China;Tianjin Navigation Instruments Research Institute,Tianjin 300131,China)

机构地区：[1]海军驻九江军事代表室,江西九江332007 [2]天津航海仪器研究所,天津300131

出　　处：《数字海洋与水下攻防》2023年第3期300-307,共8页Digital Ocean & Underwater Warfare

摘　　要：以X舵智能水下机器人(Autonomous Underwater Vehicle,AUV)为研究对象,提出了一种改进Super-Twisting滑模与非线性干扰观测器结合的AUV控制方法。首先,对AUV进行了运动学、动力学以及X舵分配进行了建模;之后,按照Super-Twisting理论设计了AUV控制器;然后,考虑到原算法中符号函数引起的控制输出抖振现象,提出了基于Sigmoid函数的改进Super-Twisting控制器,考虑到未建模动态以及外部环境干扰,设计了非线性干扰观测器对集总干扰进行补偿;最后,通过仿真验证了所提控制器的有效性。仿真表明,在干扰影响条件下,所提方法能够在大幅降低输出抖振并保证良好的控制精度。This paper proposes a new control method for X-rudder AUVs based on the combination of modified Super-Twisting sliding mode and disturbance observer.First,the kinematic model,dynamic model and force allocation model are provided.Then,an AUV controller is built based on Super-Twisting theory.Moreover,to decrease the chattering effects caused by the signal function in the controller,a modified Super-Twisting controller is designed based on the sigmoid function,and a nonlinear disturbance observer is given to compensate the influences of current disturbances and uncertainties in models.Finally,simulations are carried out to illustrate the effectiveness of the proposed method.The results show that chattering effects are largely fixed and the tracking errors are converged to zero under the influences of current disturbances and model uncertainties.

关 键 词：改进Super-Twisting滑模控制 干扰观测器 AUV控制 X舵AUV 

分 类 号：U664.82[交通运输工程—船舶及航道工程]