未知海流干扰下自主水下航行器位置跟踪控制策略研究
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摘要
针对存在参数不确定性的欠驱动自主水下航行器(AUV)水平面位置跟踪控制问题,基于李雅普诺夫理论,利用反步法设计了一种非线性控制器。利用自适应控制技术对模型本身不确定性进行补偿,同时引入自适应模糊控制技术对非线性控制器进行优化;设计了一种针对于缓慢未知时变海流的指数收敛观测器,并利用李雅普诺夫稳定性理论证明了整个AUV闭环控制系统的稳定性。针对一种新型飞翼式欠驱动AUV进行数值仿真,结果表明所设计控制器可以准确地对期望轨迹进行跟踪,证明了其有效性和鲁棒性。
An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory,which is used for the position tracking of a new class of underactuated underwater vehicles( AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles.
An adaptive nonlinear robust position tracking controller was designed by using the backstepping control technique based on Lyapunov stability theory,which is used for the position tracking of a new class of underactuated underwater vehicles( AUVs) with the parameter uncertainties under the external disturbances of ocean currents in the horizontal plane. The adaptive control technique is used to compensate the uncertainties of underwater vehicle. And the adaptive fuzzy control scheme is proposed to optimize the sliding mode items in the controller. An ocean current observer is presented based on the backstepping method to estimate the unknown time-varing ocean currents. The stability of AUV systems including position tracking controller and current observer was demonstrated based on the Lyapunov stability theory. The simulated results verified the effectiveness and robustness of the proposed nonlinear controller through a new class of flying-wing autonomous underwater vehicles.
引文
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[11]夏国清,庞程程,邵兴超,等.基于自适应滤波反步法的深潜救生艇定位控制[J].华中科技大学学报(自然科学版),2016,44(7):75-80.XIA G Q,PANG C C,SHAO X C,et al. Position control of deep submergence rescue vehicle based on adaptive command filtered backstepping method[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition),2016,44(7):75-80.(in Chinese)
[12]王金强,王聪,魏英杰,等.飞翼式碟形水下滑翔机流动与运动特性分析[J].哈尔滨工业大学学报,2018,50(4):131-137.WANG J Q,WANG C,WEI Y J,et al. Hydrodynamic characteristics and motion simulation of flying-wing dish-shaped autonomous underwater glider[J]. Journal of Harbin Institute of Technology,2018,50(4):131-137.(in Chinese)
[13] WANG H,WANG D,PENG Z H. Neural network based adaptive dynamic surface control for cooperative path following of marine surface vehicles via state and output feedback[J]. Neurocomputing,2014,133(8):170-178.
[2] WYNN R B,HUVENNE V A I,LE BAS T P,et al. Autonomous underwater vehicles(AUVs):their past,present and future contributions to the advancement of marine geoscience[J]. Marine Geology,2014,352(1):451-468.
[3]贾鹤鸣,程相勤,张利军,等.基于自适应Backstepping的欠驱动AUV三维航迹跟踪控制[J].控制与决策,2012,27(5):652-657.JIA H M,CHENG X Q,ZHANG L J,et al. Underactuated AUV3D tracking control based on adaptive backstepping[J]. Control and Decision,2012,27(5):652-657.(in Chinese)
[4]段海庆,朱齐丹.基于反步自适应神经网络的船舶航迹控制[J].智能系统学报,2012,7(3):259-264.DUAN H Q,ZHU Q D. Ship tracking control based on backstepping adaptive neural networks[J]. CAAI Transactions on Intelligent Systems,2012,7(3):259-264.(in Chinese)
[5]毕凤阳,张嘉钟,魏英杰,等.欠驱动AUV的鲁棒位置跟踪控制[J].哈尔滨工业大学学,2010,42(11):1690-1695.BI F Y,ZHENG J Z,WEI Y J,et al. Robust position tracking control design for underactuated AUVs[J]. Journal of Harbin Institute of Technology,2010,42(11):1690-1695.(in Chinese)
[6] BI F Y,WEI Y J,ZHANG J Z,et al. Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents[J]. IET Control Theory and Applications,2010,4(11):2369-2380.
[7] LIANG X,WAN L,BLAKE J I R,et al. Path following of an underactuated AUV based on fuzzy backstepping sliding mode control[J]. International Journal of Advanced Robotic Systems,2016,13(3):1-11.
[8] LIANG X,QU X R,WAN L,et al. Three-dimensional path following of an underactuated AUV based on fuzzy backstepping sliding mode control[J]. International Journal of Fuzzy Systems,2018,20(2):640-649.
[9]周佳加,严浙平,贾鹤鸣,等.改进规则下自适应神经网络的UUV水平面路径跟随控制[J].中南大学学报(自然科学版),2014,45(9):3021-3028.ZHOU J J,YAN Z P,JIA H M,et al. Adaptive neural networks UUV level path following controlunder the improved rules[J].Journal of Central South University(Natural Science Edition),2014,45(9):3021-3028.(in Chinese)
[10]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.(in Chinese)
[11]夏国清,庞程程,邵兴超,等.基于自适应滤波反步法的深潜救生艇定位控制[J].华中科技大学学报(自然科学版),2016,44(7):75-80.XIA G Q,PANG C C,SHAO X C,et al. Position control of deep submergence rescue vehicle based on adaptive command filtered backstepping method[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition),2016,44(7):75-80.(in Chinese)
[12]王金强,王聪,魏英杰,等.飞翼式碟形水下滑翔机流动与运动特性分析[J].哈尔滨工业大学学报,2018,50(4):131-137.WANG J Q,WANG C,WEI Y J,et al. Hydrodynamic characteristics and motion simulation of flying-wing dish-shaped autonomous underwater glider[J]. Journal of Harbin Institute of Technology,2018,50(4):131-137.(in Chinese)
[13] WANG H,WANG D,PENG Z H. Neural network based adaptive dynamic surface control for cooperative path following of marine surface vehicles via state and output feedback[J]. Neurocomputing,2014,133(8):170-178.