欠驱动自主水下航行器轨迹跟踪控制

Applying Cascaded Systems Theory to Ensuring Globally Uniformly Asymptotical Stability of Trajectory Tracking Controller of Underactuated Autonomous Underwater Vehicle(AUV)

文章基于级联方法,研究了欠驱动AUV的水平面轨迹跟踪控制问题。将跟踪误差分解为位置跟踪和航向角跟踪2个相互级联的系统,独立设计跟踪控制器,级联系统理论则保证了整个轨迹跟踪误差的全局一致渐近稳定性。其中,采用反演方法获得位置跟踪的全局一致渐近跟踪控制器,并且针对参考航向角速度为非零常值的一类参考轨迹,推导出保证系统全局一致渐近稳定的控制参数及参考轨迹条件。仿真研究表明该轨迹跟踪控制器是有效的,控制品质良好。

Sections 1 and 2 of the full paper explain how we apply the cascaded systems theory. Their core is： ＂the tracking error system is divided into two subsystems （the position error and the orientation error）, then we design the controllers for the two subsystems independently. Next we use the backstepping method to obtain the globally uniformly asymptotical stability of the trajectory tracking controller, and derive the sufiqcient conditions of the control parameters to ensure the AUV to track a reference AUV with constant yaw rate. ＂ Section 3 simulates the trajectory tracking controller designed by us. The simulation results, given in Figs. 1, 2 and 3, and their analysis demon- strate preliminarily that the tracking errors of our trajectory tracking controller can converge to zero asymptotically; thus it is effective for controlling the underactuated AUV to track the desired trajectory.