一类低速水下航行器的自适应反演运动控制

Adaptive Backstepping Motion Control of Underwater Vehicle with Vertical Thrusters

针对一类安装了垂向推进器的低速水下航行器,研究了垂直面内的非线性运动控制问题。考虑水下航行器动力学模型中的未知参数,采用反演技术设计非线性自适应控制器,使水下航行器的深度和俯仰角全局渐近稳定到期望值。利用REMUS水下航行器的数学模型进行仿真研究,结果验证了该控制器的全局渐近稳定性,以及对未知模型参数的自适应性。

The nonlinear vertical motion control problem of a class of low-speed underwater vehicles equipped with vertical thrusters was studied. With consideration of the unknown parameters in dynamic model, a nonlinear adaptive controller was designed with backstepping technique to globally asymptotically stabilize the depth and pitch angle to their desired values. In the simulation studies, the proposed controller was applied to the REMUS underwater vehicle, and the results demonstrate the global asymptotical stability of the tracking errors and the adaptability to the previously unknown model parameters.