欠驱动无人水下航行器三维轨迹跟踪的反步控制

Backstepping-based controller for three-dimensional trajectory tracking of underactuated unmanned underwater vehicles

中文关键词  欠驱动无人水下航行器  三维轨迹跟踪控制  反步法  Lyapunov稳定性理论

英文关键词  underactuated unmanned underwater vehicle  three-dimensional trajectory-tracking control  backstepping  Lyapunov stability theorem

中文摘要

      针对欠驱动无人水下航行器(underactuated unmanned underwater vehicles, UUVs)三维轨迹跟踪控制问题, 本文有别于传统反步法中基于视线法设计姿态角误差变量的思路, 提出了一种定义虚拟速度误差变量的反步控制器设计方法, 能够有效避免传统反步法控制律设计时存在的奇异值问题, 简化了传统反步法复杂的计算过程; 设计了欠驱动UUV的三维轨迹跟踪控制器, 给出了系统的误差方程, 基于Lyapunov稳定性理论证明了系统在定常外界扰动下的鲁棒性和稳定性; 仿真结果表明本文提出的UUV三维轨迹跟踪反步控制方法收敛、有效, 能够实现欠驱动UUV对时变三维轨迹的精确跟踪控制.

英文摘要

      To deal with the three-dimensional trajectory-tracking control problem for underactuated unmanned underwater vehicles (UUVs), an approach based on defining virtual velocity error dynamics is proposed in the paper. In comparison with the attitude error dynamics based on the line-of-sight (LOS) guidance in the traditional backstepping, the proposed method can effectively avoid the singularity problem and simplify the calculations. The controller for an underactuated UUV in the presence of constant environmental disturbances is designed and the system kinematic error dynamics are given. Lyapunov stability theorem is used to prove the robustness and stability of the proposed controller. Numerical simulation results illustrate the effectiveness and good performance of the proposed method.