不确定AUV系统的鲁棒最优滑模控制  

Robust Optimal Sliding MODE Control for AUV System with Uncertainties

作　　者：杨清 宿浩[2] 唐功友[2] 高德欣[1] 

机构地区：[1]青岛科技大学信息科学技术学院,山东青岛266061 [2]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《信息与控制》2018年第2期176-183,共8页Information and Control

基　　金：国家自然科学基金资助项目(61673357;41276085;61572448);山东省自然科学基金资助项目(ZR2017QF017;ZR201702170236)

摘　　要：为了实现具有参数摄动和随机扰动等不确定性欠驱动自主水下航行器的鲁棒控制,基于线性二次型调节器(LQR)方法和滑模控制,设计了一种鲁棒最优积分滑模控制器.首先,给出了AUV的垂直面数学模型;其次针对AUV的标称模型,根据二次型性能指标,设计了基于状态独立黎卡提方程(state dependent Riccati equation,SDRE)最优控制器,使标称系统的性能满足提出的最优指标;然后,考虑系统的不确定性,在SDRE标称控制器的基础上设计鲁棒最优积分滑模律,使AUV系统在满足性能指标要求的同时,对不确定性具有鲁棒性.最后,采用REMUS AUV系统模型验证了该方法的有效性和鲁棒性.To realize the robust control of an underactuated autonomous underwater vehicle( AUV) with uncertain parameter perturbations and random disturbances,we propose a robust optimal sliding mode control approach based on alinear quadratic regulator and sliding mode control. First,we give the AUV model in a vertical plane. Second,on the basis of the quadratic form performance index and the state-dependent Riccati equation( SDRE),we design the optimal controller for the AUV nominal system without uncertainties which makes the quadratic performance index optimal. Then,we consider the uncertainty of the system,and design the robust optimal integral sliding mode control law based on the SDRE nominal controller,which not only minimizes the performance index but is also robust to uncertainties. Finally,the validity and robustness of the presented control approach are demonstrated by a dynamic model of the remote environmental unit AUV.

关 键 词：欠驱动自主水下航行器 滑模控制 最优控制 不确定性 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]