鲁棒H^∞滤波器在AUV航向控制中的应用仿真

Simulation of Robust H∞ Filter for AUV Heading Control System

研究设计了一个鲁棒H∞滤波器来解决自治水下机器人(AUV)航向控制系统中部分难以测量状态变量的估计问题,并将其应用在AUV的航向控制系统中.建立了自治水下机器人在体坐标系下水平面运动的运动方程,并在特定的工作点对方程进行了线性化处理,得到了自治水下机器人的控制设计模型.基于线性矩阵不等式(LM I)方法对AUV航向控制系统设计了一个鲁棒H∞滤波器,并对该滤波器应用于AUV航向控制系统进行了仿真试验.仿真结果表明,该鲁棒H∞滤波器能够较好地抑制测量噪声的影响,较准确地估计出系统的状态变量,能够提高AUV航向控制系统的控制品质.

A robust H^∞ filter is developed for the heading control system of an autonomous underwater vehicle（AUV） to estimate some state variables which are not always available and are often difficult to measure in practice, and we extend the filter＇s application to the AUV heading control system. The equations of the AUV motions in the body-fixed horizontal plane are established, and they are linearized over a specified operating point to suit for the controller design. A robust H^∞ filter for the AUV heading control system is designed based on the method of linear matrix inequalities（ LMIs）, and its application to the AUV heading control system is simulated by computer. The simulation results show that the proposed robust H^∞ filter is effective to reject the negative effects of measurement noise and properly estimate the state variables of the system, and it makes much contribution to the performance improvement of the AUV heading control system.