[1]马利民.欠驱动AUV全局无抖振滑模轨迹跟踪控制[J].智能系统学报编辑部,2016,11(2):200-207.[doi:10.11992/tis.201512015]
MA Limin.Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles[J].CAAI Transactions on Intelligent Systems,2016,11(2):200-207.[doi:10.11992/tis.201512015]
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MA Limin.Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles[J].CAAI Transactions on Intelligent Systems,2016,11(2):200-207.[doi:10.11992/tis.201512015]
欠驱动AUV全局无抖振滑模轨迹跟踪控制
《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷:
11
期数:
2016年第2期
页码:
200-207
栏目:
学术论文—智能系统
出版日期:
2016-04-25
- Title:
- Global chattering-free sliding mode trajectory tracking control of underactuated autonomous underwater vehicles
- Keywords:
- autonomous underwater vehicle; global control; sliding mode control; trajectory tracking; backstepping; adaptive; constraint; Lyapunov method
- 分类号:
- TP391
- 摘要:
- 研究了具有控制输入及速度约束的欠驱动自主水下航行器(Autonomous underwater vehicle, AUV)全局轨迹跟踪控制问题。首先,将AUV运动学特性线性化,设计虚拟速度及航向角指令,解决传统反步法中速度跳变问题,满足了控制输入及速度约束条件;然后,结合动力学特性,采用自适应无抖振滑模技术,设计了欠驱动AUV的全局轨迹跟踪控制器,解决了Yu等滑模控制中无法保证航向跟踪控制问题。从工程应用角度出发,有界估计的自适应滑模控制器在AUV具有较大参数不确定及未知环境扰动条件下,表现出更好的控制性能。最后,基于Lyapunov稳定性理论的完整分析证明及仿真实验,表明了该控制器对系统不确定的鲁棒性,能够实现控制输入及速度约束的欠驱动AUV全局轨迹跟踪控制。
- Abstract:
- To investigate the global trajectory tracking control problem of an underactuated autonomous underwater vehicle (AUV) with control input and velocity constraints, this study first linearized the kinematics to determine the commands of pseudo velocities and yaw angle. These commands solved the speed jump problem in the traditional backstepping method and ensured that the control input and velocity constraints were satisfied. In the second design of the dynamics, an adaptive chattering-free sliding mode technique was used to achieve the global trajectory tracking control of an underactuated AUV, which improved the essential flaws in the work by Yu that cannot guarantee yaw angle tracking. The robust adaptive sliding mode controller with bound estimation achieved enhanced performance for a general class of AUVs in the presence of possibly large parameter uncertainty and unknown environmental disturbances from a practical application viewpoint. Finally, complete stability analysis based on Lyapunov theorem and simulations demonstrated the robustness of the proposed controller to systematical uncertainties, as well as the global tracking ability of underactuated AUVs with control input and velocity constraints.
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备注/Memo
收稿日期:2015-12-9;改回日期:。
基金项目:国家自然科学基金项目(51179038,51105088).
作者简介:马利民,男,1978年生,主要研究方向为水下航行器的导航、制导与控制。
通讯作者:马利民.E-mail:1026809958@qq.com.
更新日期/Last Update:
1900-01-01