欠驱动水下航行器三维直线航迹跟踪控制

Three-dimensional straight line path-tracking control for underactuated underwater vehicle

中文关键词  欠驱动水下航行器  三维航迹跟踪控制  反步法  反馈增益  虚拟向导

英文关键词  underactuated underwater vehicle  three-dimensional path-tracking control  backstepping  feedback gain  virtual guidance

中文摘要

      针对欠驱动水下航行器的三维直线航迹跟踪控制问题, 基于虚拟向导建立了三维航迹跟踪误差模型, 采用反馈增益反步法设计航迹跟踪控制器, 通过合理选择控制器参数消除了部分非线性项, 与传统反步法设计相比简化了虚拟控制量的形式, 并且能够避免基于视线法设计导引律时存在固有奇异值点的问题. 基于李雅普诺夫稳定性理论分析了闭环跟踪误差系统的渐近稳定性. 最后将设计的控制器应用于欠驱动水下航行器进行仿真实验, 结果表明控制器具有精确的三维航迹的跟踪能力, 并对外界干扰和模型参数不确定性具有较好的鲁棒性.

英文摘要

      To deal with the three-dimensional straight line path-tracking control problem for underactuated underwater vehicle (UUV), we develop the three-dimensional path-tracking error equations based on the virtual guidance law. The feedback gain backstepping technique is adopted for designing the path-tracking controller, so that a part of the nonlinear coupled terms can be eliminated by properly selecting the controller parameters. This leads to the simplification of the virtual control variables compared with the traditional backstepping design, and the avoidance of the singularity problem encountered in designing the line-of-sight (LOS) guidance law. Asymptotic stability of the closed-loop tracking-error system can be proved by using Lyapunov stability theory. Simulation experiment is carried out for the controller applied to the UUV; the results validate the accurate tracking ability and good robustness of the proposed control scheme against current disturbances and model parametric uncertainties.