基于滑模控制的欠驱动微型AUV轨迹跟踪控制  

Trajectory tracking control of underactuated micro-AUV based on sliding mode control

作　　者：孙栋 汤奇荣[2] 李江 刘明昊 崔国华 SUN Dong;TANG Qi-rong;LI Jiang;LIU Ming-hao;CUI Guo-hua(Intelligent Collaborative Robot Research Institute,School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Laboratory of Robotics and Multibody System,School of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院智能协作机器人研究所,上海201620 [2]同济大学机械与能源工程学院机器人技术与多体系统实验室,上海201804

出　　处：《舰船科学技术》2023年第24期97-101,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(61873192);上海市产业协同创新项目(产业发展类)(HCXBCY-2022-051);“快扶”项目(61403110321);“创新”项目(20-163-00-TS-009-125-01,21-163-00-TS-011-011-01,2021-JCJQ-LB-010-11);“十四五”装备预研共用技术项目(50912030501)。

摘　　要：针对自行研制的微型自主式水下航行器(Autonomous Underwater Vehicle,AUV),提出一种基于准滑动模态的滑模变结构控制方法,以实现快速、精确的三维轨迹跟踪。首先建立微型AUV的动力学模型,并基于准滑动模态设计轨迹跟踪控制器,通过Lyapunov稳定性理论对控制器的控制效果进行验证。最后在Matlab环境中对微型AUV三维轨迹跟踪进行仿真验证,结果表明所设计的滑模控制器控制效果精度较高、响应较快,能够有效地实现水下三维空间的轨迹跟踪控制。For the characteristics of the micro autonomous underwater vehicle(AUV),a sliding mode variable structure control method based on dynamic sliding modulus is proposed to improve the response speed and control accuracy of 3D trajectory tracking.Firstly,based on the dynamic model of micro-AUV,a trajectory tracking controller based on the sliding mode dynamic characteristics is established.Then the stability of the controller is verified with Lyapunov theory.Finally,the simulation experiment is carried out on the 3D trajectory tracking of the micro AUV in Matlab environment.The result shows that the proposed sliding mode controller has high control effect and fast response,and can effectively realize the trajectory tracking control in the underwater 3D space.

关 键 词：自主式水下航行器 轨迹跟踪 滑模控制 李雅普诺夫理论 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]