摘要
自主水下航行器(AUV)是一种高度耦合的强非线性系统,传统的定位方法采用解耦线性化模型,很难保证控制品质。本文针对未知海流作用下AUV的非线性水平面运动模型,充分利用其运动学和动力学模型的特性,提出了基于自适应反演设计方法的AUV水平面动力定位算法,在线估计海流速度。仿真结果验证了跟踪控制系统的全局渐进稳定性,及对有界外部扰动的鲁棒性。
An AUV is a highly-coupled nonlinear system, but the conventional positioning methods employ decoupied linear models. Therefore, it is difficult to guarantee its control quality. We study the horizontal nonlinear movement model of an AUV under the action of unknown ocean current. Then we utilize the properties of its kinematic and dynamatic models and propose the horizontal dynamic positioning algorithm based on its adaptive backstepping sliding mode control. Thus the current speed is estimated online. The simulation results verify the global asymptotic stability of the tracking control system and robustness to boundary external disturbance force and moment.
出处
《机械科学与技术》
CSCD
北大核心
2007年第6期738-740,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
新世纪优秀人才支持计划项目资助
关键词
自主水下航行器
自适应反演滑模控制
动力定位
autonomous underwater vehicle （AUV）
adaptive backstepping sliding mode control
dynamic positioning
