欠驱动AUV三维路径跟踪滑模控制
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摘要
针对欠驱动自主水下航行器(AUV)的三维路径跟踪控制问题。基于(Serret-Frenet,S-F)坐标系引入了虚拟向导,并在考虑攻角和漂角的基础上建立了三维路径跟踪运动学误差模型。首先通过引入两个趋近角并根据李雅普诺夫(Lyapunov)理论设计运动学控制器,然后基于滑模控制(SMC)理论设计动力学控制器,从而保证了控制系统的渐近稳定性和鲁棒性。为了降低抖振应用干扰观测器对模型的不确定性进了估计。仿真结果表明该控制器对模型参数的不确定性具有较好的鲁棒性,能够实现对三维路径的精确跟踪。
To deal with the problem of 3 D path-following control for underactuated autonomous underwater vehicles(AUV). Virtual guidance law is introduced based on Serret-Frenet frame, the 3 D path-following kinematic error model is established on the basis of considering the angles of attack and sideslip. First of all,the kinematics controller is designed according to the theory of Lyapunov by introducing two approaching angles. Then the dynamic controller is developed based on the theory of sliding mode control(SMC), so that the asymptotic stability and robustness of the control system can be guaranteed. In order to reduce chattering,the uncertainty of the model is estimated through the disturbance observer. Simulation results show that the controller has good robustness to the model parameter uncertainty. Accurate tracking of the 3 D path can be realized.
To deal with the problem of 3 D path-following control for underactuated autonomous underwater vehicles(AUV). Virtual guidance law is introduced based on Serret-Frenet frame, the 3 D path-following kinematic error model is established on the basis of considering the angles of attack and sideslip. First of all,the kinematics controller is designed according to the theory of Lyapunov by introducing two approaching angles. Then the dynamic controller is developed based on the theory of sliding mode control(SMC), so that the asymptotic stability and robustness of the control system can be guaranteed. In order to reduce chattering,the uncertainty of the model is estimated through the disturbance observer. Simulation results show that the controller has good robustness to the model parameter uncertainty. Accurate tracking of the 3 D path can be realized.
引文
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[17]王宏健,陈子印,贾鹤鸣,等.基于滤波反步法的欠驱动AUV三维路径跟踪控制[J].自动化学报,2015,41(3):631-645.Wang H J,Chen Z Y,Jia H M,et al.Three-dimensional path-following control of underactuated autonomous underwater vehicle with command filtered backstepping[J].Acta Automatica Sinica,2015,41(3):631-645.
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[20]Prestero Timothy.Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle[D].Massachusetts Institute of Technology,2001.
[2]Lapierre L,Soetanto D.Nonlinear path-following control of an AUV[J].Ocean Engineering,2007,34(11):1734-1744.
[3]施淑伟,严卫生,高剑,等.常值海流作用下的AUV水平面路径跟踪控制[J].兵工学报,2010,31(3):375-379.Shi S W,Yan W S,Gao J,et al.Path-following control of an AUV in the horizontal plane with constant ocean currents[J].Acta Armamentarii,2010,31(3):375-379.
[4]Lapierre L,Jouvencel B.Robust nonlinear path-following control of an AUV[J].IEEE Journal of Oceanic Engineering,2008,33(2):89-102.
[5]王璐,张利军,王红滨,等.非线性迭代滑模的欠驱动AUV路径跟踪控制[J].计算机工程与应用,2011,47(27):239-242.Wang L,Zhang L J,Wang H B,et al.Path-following controller for underactuated AUV of nonlinear iterative sliding mode[J].Computer Engineering and Applications,2011,47(27):239-242.
[6]Ji D X,Liu J,Zhao H Y,et al.Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control[J].Journal of Robotics,2014,2014(8):1-6.
[7]Li J H,Lee P M.Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle[J].Ocean Engineering,2005,32(17-18):2165-2181.
[8]边信黔,程相勤,贾鹤鸣,等.基于迭代滑模增量反馈的欠驱动AUV地形跟踪控制[J].控制与决策,2011,26(2):289-292.BIAN X Q,CHENG X Q,JIA H M,et al.A bottom-following controller for underactuated AUV based on iterative sliding and increment feedback[J].Control and Decision,2011,26(2):289-292.
[9]贾鹤鸣,宋文龙,周佳加.基于非线性反步法的欠驱动AUV地形跟踪控制[J].北京工业大学学报,2012,38(12):1780-1785.Jia H M,Song W L,Zhou J J.Bottom following control for an underactuated AUV based on nonlinear backstepping method[J].Journal of Beijing University of Technology,2012,38(12):1780-1785.
[10]李岳明,万磊,孙玉山,等.水下机器人高度信息融合与欠驱动地形跟踪控制[J].控制理论与应用,2013,30(1):118-122.Li Y M,Wan L,Sun Y S,et al.Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle[J].Control Theory&Applications,2013,30(1):118-122.
[11]Bidyadhar S,Mukherjee K,Sandip G.A static output feedback control design for path following of autonomous underwater vehicle in vertical plane[J].Ocean Engineering,2013,63(1):72-76.
[12]Encarnacao P,Pascoal A.3D path-following for autonomous underwater vehicles[C].Proceedings of the 39th IEEE Conference on Decision and Control,Sydney,NSW:IEEE,2000:2978-2982.
[13]Do K D,Pan J,Jiang Z P.Robust and adaptive path following for underactuated autonomous underwater vehicles[J].Ocean Engineering,2004,31(16):1967-1997.
[14]Aguiar A P,Hespanha J P.Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty[J].IEEE Transactions on Automatic Control,2007,52(8):1362-1379.
[15]葛晖,敬忠良,高剑.自主式水下航行器三维路径跟踪的神经网络H∞鲁棒自适应控制方法[J].控制理论与应用,2012,29(3):317-322.Ge H,Jing Z L,Gao J.Neural network H-infinity robust adaptive control for autonomous underwater vehicle in 3-dimensional path following[J].Control Theory&Applications,2012,29(3):317-322.
[16]王宏健,陈子印,贾鹤鸣,等.基于反馈增益反步法欠驱动无人水下航行器三维路径跟踪控制[J].控制理论与应,2014,31(1):66-77.Wang H J,Chen Z Y,Jia H M,et al.Three-dimensional path-following control of underactuated unmanned underwater vehicle using feedback gain backstepping[J].Control Theory&Applications,2014,31(1):66-77.
[17]王宏健,陈子印,贾鹤鸣,等.基于滤波反步法的欠驱动AUV三维路径跟踪控制[J].自动化学报,2015,41(3):631-645.Wang H J,Chen Z Y,Jia H M,et al.Three-dimensional path-following control of underactuated autonomous underwater vehicle with command filtered backstepping[J].Acta Automatica Sinica,2015,41(3):631-645.
[18]金鸿章,姚绪梁.船舶控制原理(第2版)[M].哈尔滨:哈尔滨工程大学出版社,2013.Jin H Z,Yao X L.Ship control principle[M].Harbin:Harbin engineering university press,2013.
[19]Prestero Timothy.Development of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle:Oceans[C]//MTS/IEEE Conference and Exhibition,MAY2001.USA:IEEE,2001:450-455.
[20]Prestero Timothy.Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle[D].Massachusetts Institute of Technology,2001.