考虑状态约束与执行器饱和的水下机器人轨迹跟踪控制  

Trajectory tracking control of underwater vehicle consideringgstate constraint and actuator saturation

作　　者：王宇梁 李一平[1,2,3] 李良 WANG Yu-liang;LI Yi-ping;LI Liang(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]辽宁省水下机器人重点实验室,沈阳110016 [4]中国科学院大学,北京100049

出　　处：《控制与决策》2024年第6期1778-1786,共9页Control and Decision

基　　金：国家重点研发计划项目(2022YFB4602404,2021YFC2801101)。

摘　　要：针对执行器饱和、模型参数不确定以及海流干扰等因素影响下的水下机器人,提出一种考虑状态约束以及执行器饱和的轨迹跟踪控制器.首先,构建水下机器人水平面轨迹跟踪误差方程;然后,对载体模型参数不确定性产生的模型误差以及海流干扰,设计一个非线性观测器进行估计并用于对控制器进行扰动补偿;接着,引入执行器饱和补偿系统、二阶滤波器以及滤波器误差补偿系统,设计命令滤波反步滑模控制器来控制水下机器人的水平面轨迹跟踪;最后,严格验证命令滤波反步滑模控制器的稳定性并进行数值仿真,验证所提出控制器的有效性.For an underwater vehicle affected by actuator saturation,hydrodynamic parameters uncertainty and ocean current interference,a controller considering actuator saturation compensation and state constraint used trajectory tracking is proposed.Firstly,the horizontal trajectory tracking error equation of the underwater vehicle is constructed.Secondly,a non-linear observer is designed to estimate and compensate for model error resulting from uncertain hydrodynamic parameters and disturbances.Then,an actuator saturation compensation system,a second-order filter and a filter error compensation system are introduced and the command filtering backstepping sliding mode controller is designed to control the trajectory tracking of the underwater vehicle on the horizontal plane.Finally,the stability of the command-filtered backstepping sliding mode controller is strictly proved and the effectiveness of the controller is verified by numerical simulation.

关 键 词：状态约束 执行器饱和 水下机器人 反步滑模法 轨迹跟踪 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]