基于全驱系统方法的AUV鲁棒自适应轨迹跟踪控制  

Robust adaptive trajectory tracking control of AUV based on the fully actuated system approach

作　　者：王鹏[1] 钱承 张柳柳 华长春[1] WANG Peng;QIAN Cheng;ZHANG Liu-liu;HUA Chang-chun(School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China;Key Lab of Intelligent Rehabilitation and Neuromodulation of Hebei Province,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学河北省智能康复及神经调控重点实验室,河北秦皇岛066004

出　　处：《控制与决策》2025年第1期285-291,共7页Control and Decision

基　　金：河北省拔尖人才项目(HY2024050021);河北省创新能力提升计划项目(22567619H);河北省教育厅在读研究生创新能力培养资助项目(CXZZSS2023042)。

摘　　要：针对存在执行器故障、外界干扰和模型不确定的自主式水下潜航器系统(autonomous underwater vehicle,AUV),提出基于全驱系统(fully actuated system,FAS)方法的鲁棒自适应轨迹跟踪误差受限控制策略,使AUV能够渐近跟踪目标信号.首先,将跟踪误差相关的归一化函数和障碍函数与时变尺度函数相结合,提出误差受限全驱系统方法;其次,将径向基函数神经网络(radial basis function neural networks,RBFNNs)与误差受限全驱系统方法相结合处理系统中的不确定模型;进一步,设计自适应补偿机制处理执行器故障;再次基于Lyapunov稳定性理论证明轨迹跟踪误差渐近收敛于零;最后,通过仿真结果验证所设计的鲁棒自适应轨迹跟踪误差受限控制器的有效性.For autonomous underwater vehicle(AUV)systems with actuator failures,external disturbances and model uncertainties,a robust adaptive trajectory tracking error constrained control strategy based on the fully actuated system(FAS)approach is proposed to enable an AUV to asymptotically track target signals.First,the error constrained fully actuated system method is proposed by combining the tracking error-related normalization function and the barrier function with the time-varying scale function.Then,radial basis function neural networks(RBFNNs)are combined with the error-constrained fully actuated system method to deal with the uncertainty model in the system.Further,an adaptive compensation mechanism is designed to deal with actuator faults.It is proved that the trajectory tracking error asymptotically converges to zero based on the Lyapunov stability theory.Finally,the simulation result verifies the effectiveness of the designed robust adaptive trajectory tracking error constrained controller.

关 键 词：全驱系统方法 鲁棒控制 自适应控制 神经网络 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]