基于预设性能的欠驱动UUV有限时间路径跟踪控制  

Finite-time path tracing control for underactuated UUV on basis of preset performance

作　　者：孙源梓 于浩淼 郭晨 SUN Yuanzi;YU Haomiao;GUO Chen(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《应用科技》2023年第5期133-140,共8页Applied Science and Technology

基　　金：国家自然科学基金项目(51879027、51809028).

摘　　要：为实现参数摄动、海流扰动条件下欠驱动水下无人航行器(underwater unmanned vehicle,UUV)安全执行路径跟踪控制任务,提出一种基于预设性能、改进视线制导律(improved line-of-sight,IMLOS)和非奇异终端滑模(nonsingular terminal sliding mode,NTSM)的路径跟踪控制策略。首先,引入Serret-Frenet坐标系建立跟踪误差方程,引入预设性能函数对跟踪误差进行约束及转换;然后,设计基于预设性能的海流补偿制导律和动力学控制器,确保航行器跟踪期望路径的同时确保航行安全;最后,利用有限时间理论证明该路径跟踪控制策略作用下的闭环运动系统的跟踪误差是有限时间收敛的。通过数值仿真验证所提出的路径跟踪控制策略能够有效地执行欠驱动UUV在参数摄动、海流扰动等约束下的路径跟踪任务,且跟踪误差始终处于预设性能范围之内,可有效地保证航行器的航行安全。Aiming at the safe path tracing of underactuated underwater unmanned vehicle(UUV)under the conditions of parameter perturbations and sea-flow disturbance,a path tracing control strategy based on preset performance,improved line-of-sight(IMLOS)guidance law and non-singular terminal sliding mode(NTSM)is proposed.Firstly,the Serret-Frenet coordinate system is introduced to establish a tracing error equation and the preset performance function is used to constrain and transform the tracing error;secondly,the sea-flow compensation guidance law and the dynamic controller based on the preset performance are designed to ensure that the vehicle can accurately trace the desired path and navigational safety;finally,the finite-time theory is utilized to prove that the tracing error of the closed-loop motion system under the path tracing control strategy is finite-time convergent.It is proved by numerical simulation that the proposed path tracing control strategy can effectively perform the path tracing task of an underactuated UUV under the constraints of parameter perturbation and sea-flow disturbance,and the tracing error always lies within the preset performance range,the navigational safety of UUV can be effectively assured.

关 键 词：欠驱动UUV 预设性能 误差转换 参数摄动 海流扰动 非奇异终端滑模 有限时间 航行安全 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]