海流干扰下欠驱动AUV的自适应反步控制  

Adaptive backstepping control for underactuated AUVs under ocean current disturbances

作　　者：陈庆东 袁剑平 柴卓辉[1,2] CHEN Qingdong;YUAN Jianping;CHAI Zhuohui(Naval Architeture and Shipping College,Guangdong Ocean Uniersity,Zhanjiang 524000,China;Guangdong Provincial Key Laboratory of Intelligent Equipment for South China Sea Marine Ranching,Guangdong Ocean University,Zhanjiang 524000,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Guangdong Provincial Engineering Re-search Center for Ship Intelligence and Safety,Zhanjiang 524000,China)

机构地区：[1]广东海洋大学船舶与海运学院,广东湛江524000 [2]广东省南海海洋牧场智能装备重点实验室,广东湛江524000 [3]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [4]广东省船舶智能与安全工程技术研究中心,广东湛江524000

出　　处：《舰船科学技术》2025年第5期138-145,共8页Ship Science and Technology

基　　金：2021年度湛江市促进经济高质量发展专项(060302072202);2023广东省普通高校重点领域专项(A21705);海洋防务技术创新中心创新基金(JJ-2023-715-01)。

摘　　要：在复杂海流干扰情况下,针对欠驱动自主水下机器人(AUV)运动控制的鲁棒性问题,本文提出了一种新的自适应反步控制策略(IABC)。该策略的核心在于构建一个高效的海流干扰估计模块,该模块能够实时在线辨识海流动态,为控制器提供即时的补偿信号。鉴于传统反步控制方法(BC)在处理复杂系统时易出现的“微分爆炸”难题,设计一阶滤波器生成控制指令所需的虚拟导数,保证控制系统的稳定性和平滑性。仿真结果表明,在航向和深度控制上,IABC方法均展现出了更高的控制精度与更强的抗干扰能力。在时变海流场景下,IABC航向误差降低了32.9%,深度误差降低了36.2%。在随机海流场景下,IABC航向误差降低了3.5%,深度误差降低了5%。In complex ocean current disturbances,to address the robustness issues of motion control for underactuated autonomous underwater vehicles(AUVs),this paper proposes a new adaptive integral backstepping control strategy(IABC).The core of this strategy involves building an efficient ocean current disturbance estimation module,which can identify ocean current dynamics in real-time and provide immediate compensation signals to the controller.Given the'differential ex-plosion'problem commonly encountered in traditional backstepping control methods(BC)when handling complex systems,a first-order filter was designed to generate the virtual derivatives required for control commands,ensuring the stability and smoothness of the control system.Finally,simulation results show that the IABC method exhibits higher control accuracy and stronger disturbance rejection capabilities in heading and depth control.In time-varying ocean current scenarios,the heading error of IABC decreased by 32.9%,and the depth error decreased by 36.2%.In random ocean current scenarios,the heading error of IABC decreased by 3.5%,and the depth error decreased by 5%.

关 键 词：海流干扰 欠驱动AUV 反步法 估计器 自适应控制 

分 类 号：U674.91[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]