常值海流作用下的AUV水平面路径跟踪控制

Path-following Control of an AUV in the Horizontal Plane with Constant Ocean Currents

针对欠驱动AUV在常值海流影响下的水平面路径跟踪控制问题,建立了常值海流作用下的AUV运动学和动力学模型;采用以自由参考点为原点的Serret-Frenet坐标系描述路径跟踪误差及其动态模型;综合应用Lyapunov方法和Backstepping技术设计了AUV路径跟踪的运动学和动力学控制律,保证了路径跟踪误差在常值海流影响下的全局渐近稳定性。通过仿真实验与未考虑海流作用的路径跟踪控制进行对比,验证了该方法能够有效克服常值海流的干扰作用,路径跟踪误差全局渐近稳定。

Taking aim at the horizontal path-following control of an under-actuated AUV in the presence of constant ocean currents, the kinematic and dynamic models with disturbance of constant ocean currents of AUV were proposed; the path-following errors and their dynamic model were described by the Serret-Frenet coordinate which uses the free reference point as original point on the path; based on Lyapunov theory and Backstepping techniques, the kinematic controller and the dynamic controller were designed respectively, which ensure asymptotic convergence of the path-following errors. Comparison of simulated results of the path-following trajectories between with and without ocean currents was performed. The simulated results show that the method can effectively overcome disturbance of constant ocean currents to ensure asymptotic convergence of the path tracking errors.